相关论文: Trajectory Tracking for Robotic Arms with Input Sa…

The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…

The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…

This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…

The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…

This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…

In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…

In this paper, a reinforced soft robot prototype with a custom-designed actuator-space string encoder are created to investigate dynamic soft robotic trajectory tracking. The soft robot prototype embedded with the proposed adaptive…

Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an…

In this paper, we propose a novel trajectory tracking controller for fully-actuated mechanical port-Hamiltonian (pH) systems, which is based on recent advances in contraction-based control theory. Our proposed controller renders a desired…

The 'infinite' passive degrees of freedom of soft robotic arms render their control especially challenging. In this paper, we leverage a previously developed model, which drawing equivalence of the soft arm to a series of universal joints,…

With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…

In this paper, we define a general class of abstract aerial robotic systems named Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral…

Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…

This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…