相关论文: Redundancy Resolution and Disturbance Rejection vi…

Ordinary differential equations (ODEs) provide a powerful framework for modeling dynamic systems arising in a wide range of scientific domains. However, most existing ODE methods focus on a single system, and do not adequately address the…

One of the most important features of tendon-driven robots is the ease of wire arrangement and the degree of freedom it affords, enabling the construction of a body that satisfies the desired characteristics by modifying the wire…

Nonconvex optimization underlies many modern machine learning and control tasks, where saddle points pose the dominant obstacle to reliable convergence in high-dimensional settings. Escaping these saddle points deterministically using…

The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning…

In this paper, we introduce a generalized dynamical unbalanced optimal transport framework by incorporating limited control input and mass dissipation, addressing limitations in conventional optimal transport for control applications. We…

We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level. In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be…

The optimization of large language models (LLMs) remains a critical challenge, particularly as model scaling exacerbates sensitivity to algorithmic imprecision and training instability. Recent advances in optimizers have improved…

In this paper, we consider the network utility maximization problem with various user priorities via jointly optimizing user association, load distribution and power control in a load-coupled heterogeneous network. In order to tackle the…

This study evaluates the performance of classical and modern control methods for real-world Cable-Driven Parallel Robots (CDPRs), focusing on underconstrained systems with limited time discretization. A comparative analysis is conducted…

Trajectory tracking control of autonomous trolley collection robots (ATCR) is an ambitious work due to the complex environment, serious noise and external disturbances. This work investigates a control scheme for ATCR subjecting to severe…

Real-Time Optimization (RTO) plays a crucial role in the process operation hierarchy by determining optimal set-points for the lower-level controllers. However, at the control layer, these set-points may be difficult to track due to…

This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…

A time-optimal problem for redundantly actuated robots moving on a specified path is a challenging problem. Although the problem is well explored and there are proposed solutions based on phase plane analysis, there are still several…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

A lack of understanding of interactions and the inability to effectively resolve conflicts continue to impede the progress of Connected Autonomous Vehicles (CAVs) in their interactions with Human-Driven Vehicles (HDVs). To address this…

In this study, we tackle the challenge of outlier-robust predictive modeling using highly expressive neural networks. Our approach integrates two key components: (1) a transformed trimmed loss (TTL), a computationally efficient variant of…

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…

In this paper, we consider the optimal disturbance rejection problem for possibly infinite dimensional linear time-varying (LTV) systems using a framework based on operator algebras of classes of bounded linear operators. This approach does…

This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…