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Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

The use of conventional actuators in robotic systems (electric motors in particular), while often offering advantages in terms of flexibility and controllability, suffer from primary actuator failure,due to unexpected complexities in their…

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…

A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…

Highly dynamic tasks that require large accelerations and precise tracking usually rely on accurate models and/or high gain feedback. While kinematic optimization allows for efficient representation and online generation of hitting…

This paper presents an autonomous control framework for articulated boom cranes performing prefabricated block assembly in construction environments. The key challenge addressed is precise placement control under passive joint dynamics that…

This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…

We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…

Balancing path following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper…

To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…

Integration of Inverter Based Resources (IBRs) which lack the intrinsic characteristics such as the inertial response of the traditional synchronous-generator (SG) based sources presents a new challenge in the form of analyzing the grid…

This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…

Since the shape of industrial endoscopes is passively altered according to the contact around it, manual inspection approaches of aeroengines through the inspection ports have unreachable areas, and it's difficult to traverse multistage…

Fully actuated multirotor platforms decouple translational force generation from vehicle attitude, enabling independent control of position and orientation and shifting performance limitations from attitude authority to actuator dynamics…

This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…

With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall system stability. Unlike most existing…

This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…

This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…