相关论文: Pitchfork-bifurication-based competitive and colla…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
In this work, inspired in the symbolic dynamic of chaotic systems and using machine learning techniques, a control strategy for complex systems is designed. Unlike the usual methodologies based on modeling, where the control signal is…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Robots are required to autonomously respond to changing situations. Imitation learning is a promising candidate for achieving generalization performance, and extensive results have been demonstrated in object manipulation. However,…
Multi-fidelity methods combine inexpensive low-fidelity simulations with costly but highfidelity simulations to produce an accurate model of a system of interest at minimal cost. They have proven useful in modeling physical systems and have…
This paper presents an energy and thermal management system for electric race cars, where we tune a lift-off-throttle signal for the driver in real-time to respect energy budgets and thermal constraints. First, we compute the globally…
This paper addresses the problem of designing recommendation systems for social networks and e-commerce platforms from a control-theoretic perspective. We treat the design of recommendation systems as a state-feedback infinite-horizon…
Feedback loops between population dynamics of individuals and their ecological environment are ubiquitously found in nature, and have shown profound effects on the resulting eco-evolutionary dynamics. Incorporating linear environmental…
Multi-fidelity methods combine inexpensive low-fidelity simulations with costly but high-fidelity simulations to produce an accurate model of a system of interest at minimal cost. They have proven useful in modeling physical systems and…
A pitchfork bifurcation of an $(m-1)$-dimensional invariant submanifold of a dynamical system in $\mathbb{R}^m$ is defined analogous to that in $\mathbb{R}$. Sufficient conditions for such a bifurcation to occur are stated and existence of…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
We study a system of coupled phase oscillators near a saddle-node on an invariant circle bifurcation and driven by random intrinsic frequencies. Under the variation of control parameters, the system undergoes a phase transition changing the…
Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the…
Bifurcations mark qualitative changes of long-term behavior in dynamical systems and can often signal sudden ("hard") transitions or catastrophic events (divergences). Accurately locating them is critical not just for deeper understanding…
We propose a threshold decision-making framework for controlling the physical dynamics of an agent switching between two spatial tasks. Our framework couples a nonlinear opinion dynamics model that represents the evolution of an agent's…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
While artificial-intelligence-based methods suffer from lack of transparency, rule-based methods dominate in safety-critical systems. Yet, the latter cannot compete with the first ones in robustness to multiple requirements, for instance,…
In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…