Related papers: Sliding Mode Control for Safe Trajectory Tracking …
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
In multi-obstacle environments, real-time performance and safety in robot motion control have long been challenging issues, as conventional methods often struggle to balance the two. In this paper, we propose a novel motion control…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
This paper develops rollover prevention guarantees for mobile robots using control barrier function (CBF) theory, and demonstrates the method experimentally. We consider a safety measure based on a zero moment point condition through the…
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…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…