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This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
A nonlinear time-delay model is proposed to describe the interaction dynamics between criminal and non-criminal populations, combining social influence mechanisms, saturation effects represented by a Holling type II functional response, and…
Systems with time-delayed chaotic dynamics are common in nature, from control theory to aeronautical propulsion. The overarching objective of this paper is to compute the stability properties of a chaotic dynamical system, which is…
Communication delays in mobile robot teleoperation adversely affect human-machine collaboration. Understanding delay effects on human operational performance and neurocognition is essential for resolving this issue. However, no previous…
Stability of retarded differential equations is closely related to the existence of Lyapunov-Krasovskii functionals. Even if a number of converse results have been reported regarding the existence of such functionals, there is a lack of…
Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…
Local-remote systems allow robots to execute complex tasks in hazardous environments such as space and nuclear power stations. However, establishing accurate positional mapping between local and remote devices can be difficult due to time…
We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Randomly-assembled dynamical systems are theoretically predicted to be unstable upon crossing a critical threshold of complexity, as first shown by May. Yet, empirical complex systems exhibit remarkable stability, indicating the presence of…
This paper aims to provide a clear and rigorous understanding of commonly recognized safety constraints in physical human-robot interaction, particularly regarding ISO/TS 15066. We investigate the derivation of these constraints, critically…
We examine synchronization of identical chaotic systems coupled in a drive/response manner. A rigorous criterion is presented which, if satisfied, guarantees that synchronization to the driving trajectory is linearly stable to…
In this paper, we study asynchronous stochastic approximation algorithms without communication delays. Our main contribution is a stability proof for these algorithms that extends a method of Borkar and Meyn by accommodating more general…
For a large family of nonautonomous scalar-delayed differential equations used in population dynamics, some criteria for permanence are given, as well as explicit upper and lower bounds for the asymptotic behavior of solutions. The method…
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…
Human-robot interaction and game theory have developed distinct theories of trust for over three decades in relative isolation from one another. Human-robot interaction has focused on the underlying dimensions, layers, correlates, and…
This paper studies input-to-state stability (ISS) of general nonlinear time-delay systems subject to delay-dependent impulse effects. Sufficient conditions for ISS are constructed by using the method of Lyapunov functionals. It is shown…
New methods are developed for the stabilization of a linear system with general time-varying distributed delays existing at the system's states, inputs and outputs. In contrast to most existing literature where the function of time-varying…
In this paper, we investigate the mean-square stabilization for discrete-time stochastic systems that endure both multiple input delays and multiplicative control-dependent noises. For such multi-delay stochastic systems, we for the first…