相关论文: A variable rest length impedance grasping strategy…
In this paper, we formulate an optimization-based control-by-interconnection approach to the stabilization problem of nonlinear port-Hamiltonian systems. Motivated by model predictive control, the feedback is defined as an initial part of a…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
We study port-Hamiltonian systems with energy functions that split into local storage terms. From the interconnection and dissipation structure, we construct a graph on the energy compartments. From this graph, we show that the…
In this paper, we investigate a class of port-Hamiltonian systems with singular vector fields. We show that, under suitable conditions, their interconnection with passive systems ensures convergence to a prescribed non-equilibrium steady…
A framework for identifying nonlinear port-Hamiltonian systems using input-state-output data is introduced. The framework utilizes neural networks' universal approximation capacity to effectively represent complex dynamics in a structured…
We study an extreme active matter system, which is essentially a dense assembly of athermal, soft and infinitely persistent active particles. Using extensive numerical simulations we obtain jammed configurations of this system in two…
We describe in this paper a crossbridge model in which an attached crossbridge behaves like a linear spring with a variable rest length. We assume in particular that the rest length has a linear force-velocity relation, and that the force…
This paper aims to provide a new problem formulation of path following for mechanical systems without time parameterization nor guidance laws, namely, we express the control objective as an orbital stabilization problem. It is shown that,…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
In recent years, nonlinear dynamic system identification using artificial neural networks has garnered attention due to its broad potential applications across science and engineering. However, purely data-driven approaches often struggle…
Conventional fluid-driven soft grippers typically depend on external sources, which limit portability and long-term autonomy. This work introduces a self-contained soft gripper with fixed size that operates solely through internal liquid…
Boundary controlled irreversible port-Hamiltonian systems (BC-IPHS) on 1-dimensional spatial domains are defined by extending the formulation of reversible BC-PHS to irreversible thermodynamic systems controlled at the boundaries of their…
In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct…
The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities…
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…
Distributed Port-Hamiltonian (dPHS) theory provides a powerful framework for modeling physical systems governed by partial differential equations and has enabled a broad class of boundary control methodologies. Their effectiveness, however,…
This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…
We consider two systems of two conservation laws that are defined on complementary, one-dimensional spatial intervals and coupled by an interface as a single port-Hamiltonian system. In case of a fixed interface position, we characterize…
This contribution deals with energy-based in-domain control of systems governed by partial differential equations with spatial domain up to dimension two. We exploit a port-Hamiltonian system description based on an underlying jet-bundle…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…