Related papers: Sliding Mode Control for Safe Trajectory Tracking …

This research proposes a robust adaptive fuzzy sliding mode control (AFSMC) approach to enhance the trajectory tracking performance of cylindrical robotic manipulators, extensively utilized in applications such as CNC and 3D printing. The…

Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems owing to their high efficiency and power density. However, nonlinear dynamics, parameter uncertainties, and load disturbances complicate their…

Autonomy advances have enabled robots in diverse environments and close human interaction, necessitating controllers with formal safety guarantees. This paper introduces an experimental platform designed for the validation and demonstration…

There are two major challenges for scaling up robot navigation around dynamic obstacles: the complex interaction dynamics of the obstacles can be hard to model analytically, and the complexity of planning and control grows exponentially in…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

Safe autonomous navigation in unknown environments is an important problem for mobile robots. This paper proposes techniques to learn the dynamics model of a mobile robot from trajectory data and synthesize a tracking controller with safety…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

Safety has been of paramount importance in motion planning and control techniques and is an active area of research in the past few years. Most safety research for mobile robots target at maintaining safety with the notion of collision…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

A robust tracking control strategy is designed to empower wheeled mobile robots (WMRs) to track predetermined routes while operating in diverse fields and encountering disturbances like strong winds or uneven path conditions, which affect…

Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…

In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…

This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…