相关论文: Safety in Admittance Control using Reference Traje…

This paper investigates the safety guaranteed problem in spacecraft inspection missions, considering multiple position obstacles and logical attitude forbidden zones. In order to address this issue, we propose a control strategy based on…

This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…

We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyapunov analysis and the notion of fixed-time stability (FxTS),…

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…

We develop a new framework for trajectory planning on predefined paths, for general N-link manipulators. Different from previous approaches generating open-loop minimum time controllers or pre-tuned motion profiles by time-scaling, we…

A major challenge in autonomous driving is designing control architectures that guarantee safety in all relevant driving scenarios. Given a safe desired reference trajectory for the vehicle, a trajectory following controller has to ensure…

In this paper, a novel, dual-mode model predictive control framework is introduced that combines the dynamic window approach to navigation with reference tracking controllers. This adds a deliberative component to the obstacle avoidance…

A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…

Control barrier certificates have proven effective in formally guaranteeing the safety of the control systems. However, designing a control barrier certificate is a time-consuming and computationally expensive endeavor that requires expert…

It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…

This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…

As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact.…

This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…

Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…

This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…

Control applications present hard operational constraints. A violation of these can result in unsafe behavior. This paper introduces Safe Interactive Model Based Learning (SiMBL), a framework to refine an existing controller and a system…

This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…

Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…

This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…

Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…