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This paper proposes a robust model predictive control-based solution for the recently introduced series active variable geometry suspension (SAVGS) to improve the ride comfort and road holding of a quarter car. In order to close the gap…
We investigate a Linear-Quadratic-Gaussian (LQG) control and sensing co-design problem, where one jointly designs sensing and control policies. We focus on the realistic case where the sensing design is selected among a finite set of…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
We study the task of learning state representations from potentially high-dimensional observations, with the goal of controlling an unknown partially observable system. We pursue a cost-driven approach, where a dynamic model in some latent…
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are…
We address the problem of attitude stabilization of a rigid body, in which neither the angular velocity nor the instantaneous measurements of the attitude are used in the feedback, only body vector measurements are needed. The design of the…
This paper discusses discretization methods for implementing nonlinear model predictive controllers using Iterative Linear Quadratic Regulator (ILQR). Finite-difference approximations are mostly used to derive a discrete-time state equation…
Declines in cost and concerns about the environmental impact of traditional generation have boosted the penetration of renewables and non-conventional distributed energy resources into the power grid. The intermittent availability of these…
Lagrangian systems represent a wide range of robotic systems, including manipulators, wheeled and legged robots, and quadrotors. Inverse dynamics control and feedforward linearization techniques are typically used to convert the complex…
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
We investigate the joint actuator-sensor design problem for stochastic linear control systems. Specifically, we address the problem of identifying a pair of sensor and actuator which gives rise to the minimum expected value of a quadratic…
The aim in this paper is to apply the iLQR, iterative Linear Quadratic Regulator, to control the movement of a mobile robot following an already defined trajectory. This control strategy has proven its utility for nonlinear systems. As…
Direct policy search has achieved great empirical success in reinforcement learning. Many recent studies have revisited its theoretical foundation for continuous control, which reveals elegant nonconvex geometry in various benchmark…
Motivated by recent advances of reinforcement learning and direct data-driven control, we propose policy gradient adaptive control (PGAC) for the linear quadratic regulator (LQR), which uses online closed-loop data to improve the control…
In this paper, we consider the feedback stabilization problem for N-level quantum angular momentum systems undergoing continuous-time measurements. By using stochastic and geometric control tools, we provide sufficient conditions on the…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
To address the operational challenges of in-pipe robots in large pipes of water distribution systems (WDS), in this research, a control algorithm is proposed for our previously designed robot [4]. Our size adaptable robot has an…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…