Related papers: Toward Model Matching for Remotely Controlled Diff…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a…

This paper proposes a reinforcement learning (RL) framework for controlling and stabilizing the Twin Rotor Aerodynamic System (TRAS) at specific pitch and azimuth angles and tracking a given trajectory. The complex dynamics and non-linear…

This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…

In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…

Optimal control of wheel loaders in short loading cycles is studied in this paper. For modeling the wheel loader, the data from a validated diesel engine model is used to find a control oriented mean value engine model. The driveline is…

Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…

The purpose of this study is to develop a computationally efficient deep learning based control framework for high degree of freedom exoskeleton robots to address the real time computational limitations associated with conventional model…

This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…

We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…

In the real-world, self-driving vehicles are required to achieve steering maneuvers in both uncontrolled and uncertain environments while maintaining high levels of safety and passengers' comfort. Ignoring these requirements would…

We consider a robust stabilization of the fourth-order oscillatory systems with non-collocated output sensing. Worth recalling is that the fourth-order systems are relatively common in mechatronics as soon as there are two-mass or more…

It has long been hoped that model-based control will improve tracking performance while maintaining or increasing compliance. This hope hinges on having or being able to estimate an accurate inverse dynamics model. As a result, substantial…

This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…

In industrial Internet environments, mobile robots must generate collision-free global routes under stochastic obstacle layouts and random perturbations in commanded linear and angular velocities. This paper models a differential-drive…

Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…

This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as well as the geometric configuration of rotors are unknown.…