相关论文: Exponentially Stable First Order Control on Matrix…

To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…

This paper extends the Model Predictive Static Programming (MPSP) framework for nonlinear systems evolving on Euclidean spaces to simple mechanical systems evolving on Lie groups. Classical optimal control approaches based on Pontryagin's…

We develop a method for the model reference adaptive control (MRAC) of LTI systems via Extremum Seeking (ES). Our proof of global asymptotic tracking enables design of the adaptive controller to satisfy averaging requirements, and…

In this letter we show that for certain infinite families of modular forms of growing level it is possible to have a control result for the exceptional primes of the attached Galois representations. As an application, a uniform version of a…

The article considers smooth optimization of functions on Lie groups. By generalizing NAG variational principle in vector space (Wibisono et al., 2016) to Lie groups, continuous Lie-NAG dynamics which are guaranteed to converge to local…

This paper addresses the problem of efficiently computing higher-order variational integrators in simulation and trajectory optimization of mechanical systems as those often found in robotic applications. We develop $O(n)$ algorithms to…

We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…

We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…

We present the first accelerated randomized algorithm for solving linear systems in Euclidean spaces. One essential problem of this type is the matrix inversion problem. In particular, our algorithm can be specialized to invert positive…

This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in…

For linear time-invariant (LTI) systems, the design of an optimal controller is a commonly encountered problem in many applications. Among all the optimization approaches available, the linear quadratic regulator (LQR) methodology certainly…

In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…

The special Galilean group, usually denoted SGal(3), is a 10-dimensional Lie group whose important subgroups include the special orthogonal group, the special Euclidean group, and the group of extended poses. We briefly describe SGal(3) and…

We introduce a novel algorithm for controlling linear time invariant systems in a tracking problem. The controller is based on a Gaussian Process (GP) whose realizations satisfy a system of linear ordinary differential equations with…

The stability of dynamical systems with oscillatory behaviors and well-defined average vector fields has traditionally been studied using averaging theory. These tools have also been applied to hybrid dynamical systems, which combine…

This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic…

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…

A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown…