相关论文: Stability and Robustness Analysis of Plug-Pulling …
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising…
This paper is concerned with the modeling and control of a curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator using the port-Hamiltonian (PH) approach. For that purpose, we use a modular approach and consider the…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
We apply robust control technics to an adaptive optics system including a dynamic model of the deformable mirror. The dynamic model of the mirror is a modification of the usual plate equation. We propose also a state-space approach to model…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
A control design approach to achieve fully autonomous take-off and flight maneuvers with a tethered aircraft is presented and demonstrated in real-world flight tests with a small-scale prototype. A ground station equipped with a controlled…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
The tasks that an aerial manipulator can perform are incredibly diverse. However, nowadays the technology is not completely developed to achieve complex tasks autonomously. That's why we propose a human-in-the-loop system that can control a…
We present a hybrid differential dynamic programming (DDP) algorithm for closed-loop execution of manipulation primitives with frictional contact switches. Planning and control of these primitives is challenging as they are hybrid,…
This paper presents a method for aerial manipulator end-effector trajectory tracking by encompassing dynamics of the Unmanned Aerial Vehicle (UAV) and null space of the manipulator attached to it in the motion planning procedure. The…
A dynamic mitigation mechanism for instability growth was proposed and discussed in the paper [Phys. Plasmas 19, 024503 (2012)]. In the present paper the robustness of the dynamic instability mitigation mechanism is discussed further. The…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Hybrid aerial--ground robots offer both traversability and endurance, but stair-like discontinuities create a trade-off: wheels alone often stall at edges, while flight is energy-hungry for small height gains. We propose an energy-aware…
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…