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This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Remote manipulation is emerging as one of the key robotics tasks needed in extreme environments. Several researchers have investigated how to add AI components into shared controllers to improve their reliability. Nonetheless, the impact of…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
Uncertainties influencing the dynamical systems pose a significant challenge in estimating the achievable performance of a controller aiming to control such uncertain systems. When the uncertainties are of stochastic nature, obtaining hard…
This paper addresses the modeling and control of heterogeneous populations of thermostatically controlled loads (TCLs) operated by model predictive control (MPC) schemes at level of each TCL. It is shown that the dynamics of such TCLs…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…
The integration of technology into exercise regimens has emerged as a strategy to enhance normal human capabilities and return human motor function after injury or illness by enhancing motor learning and retention. Much research has focused…
This paper presents several stability analyses for grid-forming inverters and synchronous generators considering the dynamics of transmission lines and different load models. Load models are usually of secondary importance compared to…
This article proposes a new index for quantifying the degree of dependence between random vectors. The index takes values in [0,1] and equals zero if and only if the random vectors are sub-independent. Unlike mere uncorrelatedness,…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
We analyze in this paper the effect of the well known intelligent proportional controller on the stability of linear control systems. Inspired by the literature on neutral time delay systems and advanced type systems, we derive sufficient…
In this work, we study fast time scale dynamic interactions between inverters, synchronous machines, and transmission lines. The overlapping time scales between inverter controls and electromagnetic phenomena idfentified in recent years has…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
Assessing drivers' interaction capabilities is crucial for understanding human driving behavior and enhancing the interactive abilities of autonomous vehicles. In scenarios involving strong interaction, existing metrics focused on…
Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…
Controlling the interaction forces between a human and an exoskeleton is crucial for providing transparency or adjusting assistance or resistance levels. However, it is an open problem to control the interaction forces of lower-limb…