相关论文: Load-independent Metrics for Benchmarking Force Co…

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

Reinforcement learning algorithms have shown great success in solving different problems ranging from playing video games to robotics. However, they struggle to solve delicate robotic problems, especially those involving contact…

Wide-area data and algorithms in large power systems are creating new opportunities for implementation of measurement-based dynamic load modeling techniques. These techniques improve the accuracy of dynamic load models, which are an…

We explore the pressure of active particles on curved surfaces and its relation to other interfacial properties. We use both direct simulations of the active systems as well as simulations of an equilibrium system with effective (pair)…

Athletic training is characterized by physiological systems responding to repeated exercise-induced stress, resulting in gradual alterations in the functional properties of these systems. The adaptive response leading to improved…

This paper analyzes how interaction effects can be consistently estimated under economically plausible assumptions in linear panel models with a fixed $T$-dimension. We advocate for a \emph{correlated interaction term estimator} (CITE) and…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

We investigate the relative merit of phase-based methods---mean phase coherence, unweighted and weighted phase lag index---for estimating the strength of interactions between dynamical systems from empirical time series which are affected…

This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…

In-wheel drive (IWD) systems enhance the responsiveness, traction, and maintenance efficiency of vehicles by enabling each wheel to operate independently. This paper proposes a novel robust torque-observed valve-based control (RTOVC)…

Despite the existence of formal guarantees for learning-based control approaches, the relationship between data and control performance is still poorly understood. In this paper, we propose a Lyapunov-based measure for quantifying the…

Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…

Automated driving systems require monitoring mechanisms to ensure operation as intended, especially when system elements degrade and/or fail. Hence, capability monitoring is crucial in order to evaluate the system's remaining performance…

We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…

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…

This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…

This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…

We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. As…

In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated…

This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…