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A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
A reliable supply with electric power is vital for our society. Transmission line failures are among the biggest threats for power grid stability as they may lead to a splitting of the grid into mutual asynchronous fragments. New conceptual…
Point-to-point and periodic motions are ubiquitous in the world of robotics. To master these motions, Autonomous Dynamic System (DS) based algorithms are fundamental in the domain of Learning from Demonstration (LfD). However, these…
Synchronization is an important behavior that characterizes many natural and human made systems composed by several interacting units. It can be found in a broad spectrum of applications, ranging from neuroscience to power-grids, to mention…
Efficient networking of many-robot systems is considered one of the grand challenges of robotics. In this article, we address the problem of achieving resilient, dynamic interconnection topologies in multi-robot systems. In scenarios in…
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…
The energy mix of future power systems will include high shares of wind power and solar PV. These generation facilities are generally connected via power-electronic inverters. While conventional generation responds dynamically to the state…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
This study examines the transient stability of low-inertia power systems with inverter-based generation (IBG) and proposes a sufficient stability criterion. In low-inertia grids, transient interactions are induced between the…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
This paper describes the optimal selection of a control policy to program the steady state of controlled nonlinear systems with hyperbolic fixed points. This work is motivated by the field of synthetic biology, in which saddle points are…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
Recent work introduced the concept of human teleoperation (HT), where the remote robot typically considered in conventional bilateral teleoperation is replaced by a novice person wearing a mixed reality head mounted display and tracking the…
As power systems evolve with increasing production from Inverter-Based Resources (IBRs), their underlying dynamics are undergoing significant changes that can jeopardize system operation, leading to poorly damped oscillations or…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
In this manuscript, we study the problem of robust synchronization in networks of diffusively time-delayed coupled nonlinear systems. In particular, we prove that, under some mild conditions on the input-output dynamics of the systems and…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…
The main focus of recent time synchronization research is developing power-efficient synchronization methods that meet pre-defined accuracy requirements. However, an aspect that has been often overlooked is the high dynamics of the network…