相关论文: Model-Dependent Prosthesis Control with Interactio…
The notion of the relaxed Robust Control Lyapunov Function (relaxed RCLF) is introduced and is exploited for the design of robust feedback stabilizers for nonlinear systems. Particularly, it is shown for systems with input constraints that…
Reinforcement learning (RL) in the context of control systems offers wide possibilities of controller adaptation. Given an infinite-horizon cost function, the so-called critic of RL approximates it with a neural net and sends this…
Reinforcement Learning (RL) and its integration with deep learning have achieved impressive performance in various robotic control tasks, ranging from motion planning and navigation to end-to-end visual manipulation. However, stability is…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
State-of-the-art motorized hand prostheses are endowed with actuators able to provide independent and proportional control of as many as six degrees of freedom (DOFs). The control signals are derived from residual electromyographic (EMG)…
In this paper, the issue of model uncertainty in safety-critical control is addressed with a data-driven approach. For this purpose, we utilize the structure of an input-ouput linearization controller based on a nominal model along with a…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
The lack of haptically aware upper-limb prostheses forces amputees to rely largely on visual cues to complete activities of daily living. In contrast, able-bodied individuals inherently rely on conscious haptic perception and automatic…
While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…
Reinforcement learning (RL) exhibits impressive performance when managing complicated control tasks for robots. However, its wide application to physical robots is limited by the absence of strong safety guarantees. To overcome this…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
Loss of mobility or balance resulting from neural trauma is a critical consideration in public health. Robotic exoskeletons hold great potential for rehabilitation and assisted movement, yet optimal assist-as-needed (AAN) control remains…
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward invariance of static and dynamic safe sets and convergence…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
Control Lyapunov Functions (CLF) method gives a constructive tool for stabilization of nonlinear systems. To find a CLF, many methods have been proposed in the literature, e.g. backstepping for cascaded systems and sum of squares (SOS)…
In this work, we establish different control design approaches for discrete-time systems, which build upon the notion of finite-step control Lyapunov functions (fs-CLFs). The design approaches are formulated as optimization problems and…
Prosthetic hands can be used to support upper-body amputees. Myoelectric prosthesis, one of the externally-powered active prosthesis categories, requires proper processing units in addition to recording electrodes and instrumentation…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…