Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
Boom cranes are among the most common material handling systems due to their simple design. Some boom cranes also have an auxiliary jib connected to the boom with a flexible joint to enhance the maneuverability and increase the workspace of…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
This paper presents a novel modular, reconfigurable battery energy storage system. The proposed design is characterized by a tight integration of reconfigurable power switches and DC/DC converters. This characteristic enables isolation of…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…
Aerial Cable Towed Systems (ACTS) are composed of several Unmanned Aerial Vehicles (UAVs) connected to a payload by cables. Compared to towing objects from individual aerial vehicles, an ACTS has significant advantages such as heavier…
In this article we describe our efforts of extending demand-side control concepts to the application in portable electronic devices, such as laptop computers, mobile phones and tablet computers. As these devices feature built-in energy…
Adaptive Cruise Control has seen significant advancements, with Collaborative Adaptive Cruise Control leveraging Vehicle-to-Vehicle communication to enhance coordination and stability. However, the reliance on stable communication channels…
Transporting a heavy payload using multiple aerial robots (MARs) is an efficient manner to extend the load capacity of a single aerial robot. However, existing schemes for the multiple aerial robots transportation system (MARTS) still lack…
Recently, various relations and criteria have been presented to establish a proper relationship between control systems and control the Global Positioning System (GPS)-intelligent buoy system. Given the importance of controlling the…
This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the…
Sailboat path-planning is a natural hybrid control problem (due to continuous steering and occasional "tack-switching" maneuvers), with the actual path-to-target greatly affected by stochastically evolving wind conditions. Previous studies…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
Autonomous robotic boats are expected to perform several tasks: 1) navigate autonomously in water environments, such as the canals of Amsterdam; 2) perform individual task, such as water monitoring, transporting goods and people; 3) latch…
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents a robust fault tolerant control scheme that is designed to…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
A control system is called self-powered if the only energy it requires for operation is that which it absorbs from the plant. For a linear feedback law to be feasible for a self-powered control system, its feedback signal must be colocated…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
Cranes come in various sizes and designs to perform different tasks. Depending on their dynamic properties, they can be classified as gantry cranes and rotary cranes. In this paper we will focus on the so called 'knuckle boom' cranes which…
A charged tether or wire experiences Coulomb drag when inserted into flowing plasma. In the solar wind the Coulomb drag can be utilised as efficient propellantless interplanetary propulsion as the electric solar wind sail (electric sail,…
Collaborative transportation of cable-suspended payloads by teams of Unmanned Aerial Vehicles (UAVs) has the potential to enhance payload capacity, adapt to different payload shapes, and provide built-in compliance, making it attractive for…