Probabilistic Adaptive Control for Robust Behavior Imitation
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Power-Hardware-in-the-Loop (PHIL) setups have gained high importance in validation of the performance of newly developed instruments and devices with low risk and implementation cost. However, the interconnection of a power hardware with a simulated model ...
The development of a universal method for grasping objects of varying morphology, material and size in unstructured environments remains an unsolved challenge. There is no one 'universal' solution which can function with low positional precision, can grasp ...
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In this paper, a data-driven method for controller design with constraints on the positive-realness of closed-loop transfer functions over an arbitrary set of frequencies is proposed. The positive-realness of a closed-loop transfer function is represented ...
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This article proposes a new clock-dependent gain-scheduled dynamic output feedback controller for delayed linear parameter varying systems with piecewise constant parameters. The proposed controller guarantees Script capital L2-performance. By employing a ...
2020
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Real-time plasma electron density profile estimation and control are essential in the operation of future tokamaks. In particular, the robustness against diagnostics failure and disturbances is important for long pulse operation. A model-based approach to ...
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In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater ve ...
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Biomimetic behavior includes aspects such as learning from previous experience, self-diagnosis, and adaptation. This thesis describes control methodologies that are essential to development towards biomimetic behavior of a complex deployable structure. Sim ...
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Visual feedback is a common method to enhance motor learning and is widely used in rehabilitation institutes. Although balance training with visual feedback has shown positive results, the most effective way to provide the feedback is still open to researc ...
Programming by Demonstration (PbD) offers a user-friendly way of skill transfer from human to robot. Typically, demonstration data do not contain the control inputs required to reproduce the demonstrated skill. These control commands can be obtained from a ...
