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We show that a purely tactile dextrous in-hand manipulation task with continuous regrasping, requiring permanent force closure, can be learned from scratch and executed robustly on a torque-controlled humanoid robotic hand. The task is…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
This paper is devoted to a simple and new proof on the optimal finite control time for general linear coupled hyperbolic system by using boundary feedback on one side. The feedback control law is designed by first using a Volterra…
We report on a real-time demand response experiment with 100 controllable devices. The experiment reveals several key challenges in the deployment of a real-time demand response program, including time delays, uncertainties,…
Bilateral teleoperation provides humanoid robots with human planning intelligence while enabling the human to feel what the robot feels. It has the potential to transform physically capable humanoid robots into dynamically intelligent ones.…
The paper addresses the exact linearization of flat nonlinear discrete-time systems by generalized static or dynamic feedbacks which may also depend on forward-shifts of the new input. We first investigate the question which forward-shifts…
Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…
This paper proposes a novel two-layer Volt/VAR control (VVC) framework to regulate the voltage profiles across an unbalanced active distribution system, which achieves both the efficient open-loop optimization and accurate closed-loop…
Stabilization of linear systems with unknown dynamics is a canonical problem in adaptive control. Since the lack of knowledge of system parameters can cause it to become destabilized, an adaptive stabilization procedure is needed prior to…
This paper introduces a novel framework integrating nonlinear acoustic computing and reinforcement learning to enhance advanced human-robot interaction under complex noise and reverberation. Leveraging physically informed wave equations…
We develop a feedback control framework for stabilizing the McKean-Vlasov PDE on the torus. Our goal is to steer the dynamics toward a prescribed stationary distribution or accelerate convergence to it using a time-dependent control…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First,…
Haptic feedback has been a long-missed feature in robotic-assisted surgery, one that would allow surgeons to perceive tissue properties and apply controlled forces during delicate procedures. Although commercial robotic systems have begun…
PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…
Time delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current…
This paper proposes a novel wide-area control strategy for modulating the active power injections to damp the critical frequency oscillations in power systems, this includes the inter-area oscillations and the transient frequency swing. The…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
This paper presents a novel six-axis force/torque (F/T) sensor based on inductive sensing technology. Unlike conventional strain gauge-based sensors that require direct contact and external amplification, the proposed sensor utilizes…
In this letter, we propose a control scheme for rigid bodies designed to optimise transient behaviors. The search space for the optimal control input is parameterized to yield a passive, specifically lossless, nonlinear feedback controller.…