相关论文: AdapJ: An Adaptive Extended Jacobian Controller fo…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

Deep neural networks have become an integral part of our software infrastructure and are being deployed in many widely-used and safety-critical applications. However, their integration into many systems also brings with it the vulnerability…

Robots built from soft materials will inherently apply lower environmental forces than their rigid counterparts, and therefore may be more suitable in sensitive settings with unintended contact. However, these robots' applied forces result…

Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…

Recurrent Neural Networks excel at predicting and generating complex high-dimensional temporal patterns. Due to their inherent nonlinear dynamics and memory, they can learn unbounded temporal dependencies from data. In a Machine Learning…

This paper presents an active learning strategy for robotic systems that takes into account task information, enables fast learning, and allows control to be readily synthesized by taking advantage of the Koopman operator representation. We…

This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…

This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…

This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…

A novel regularization technique, AdaCubic, is proposed that adapts the weight of the cubic term. The heart of AdaCubic is an auxiliary optimization problem with cubic constraints that dynamically adjusts the weight of the cubic term in…

This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

This paper presents a novel framework for Jacobian computation in motion optimization problems involving multi-link systems, where physical quantities are represented using higher-order time derivatives. In motion optimization of robots and…

This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…

Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…

A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…

In this work, we propose a meta-learning-based Koopman modeling and predictive control approach for nonlinear systems with parametric uncertainties. An adaptive deep meta-learning-based modeling approach, called Meta Adaptive Koopman…

Genes are connected in regulatory networks, often modelled by ordinary differential equations. Changes in expression of a gene propagate to other genes along paths in the network. At a stable state, the system's Jacobian matrix confers…

In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…

Embodied AI research has traditionally emphasized performance metrics such as success rate and cumulative reward, overlooking critical robustness and safety considerations that emerge during real-world deployment. In actual environments,…