A5024504203- Robotic Locomotion and Control
- Dynamics and Control of Mechanical Systems
- Hydraulic and Pneumatic Systems
- Vehicle Dynamics and Control Systems
- Prosthetics and Rehabilitation Robotics
- Robotic Mechanisms and Dynamics
- Neurogenetic and Muscular Disorders Research
- Structural Health Monitoring Techniques
- Target Tracking and Data Fusion in Sensor Networks
- Adaptive Control of Nonlinear Systems
- Mechanics and Biomechanics Studies
Eindhoven University of Technology
2015-2019
Delft University of Technology
2017
This work explores the stabilization of desired dynamic motion tasks involving hard impacts at non-negligible speed for humanoid robots. To this end, a so-called reference spreading hybrid control law is designed showing promising results in simulation. The simulations are performed employing dynamical model an existing robot and assumed to be inelastic. task consists having balancing on one foot while repeatedly making breaking contact with wall by means hand. simulation illustrate that...
This paper addresses the optimal trajectory tracking problem for hybrid systems with discontinuous state trajectories. We consider state-triggered jumps in evolution. The of a given reference is complicated by fact that time instants at which closed-loop dynamics actually differ from those jumps. A recently introduced feedback controller used to cope these differences. method design corresponding time-varying gains such they minimize cost criterion linear quadratic regulator (LQR) like idea...
The definition of asymptotic stability for a trajectory hybrid system with state-triggered jumps is not straightforward. Nearby solutions jump at close but noncoincident times, making the standard notion closeness, based on vector difference, unsuitable to compare trajectories point-wise in time. With tracking control as ultimate goal, we propose and constructive proof sensitivity analysis applicable single-jump-flow trajectories. A key role played by time-triggered linear system, associated...
In this brief, trajectory tracking control for nonperiodic motions with impacts is analyzed by means of physical experiments.This brief aims at demonstrating the effectiveness and robustness method called reference spreading (RS) on a setup.An actuated rebounding pendulum, onedegree-of-freedom system specifically designed performing trajectories partially elastic impacts, acts as test bench.RS compared to both classic proportional derivative (PD) feedback distance function-based control,...
This letter addresses the problem of causal velocity estimation motion signals exhibiting sudden changes. It is explicitly assumed that only sampled quantized position data are available, and no dynamic system model at hand, to allow for an effective solution with minimal a priori information. Our consists finite-response filter adaptive window length jump detection algorithm. A detected when difference between predicted larger than parametric threshold. The specific value threshold obtained...
Sensitivity analysis for hybrid systems with state-triggered jumps is experiencing renewed attention the control of robots intermittent contacts. The basic assumption that enables this type are triggered when state reaches, transversally, a sufficiently smooth switching surface. In many scenarios practical relevance, however, surface just piecewise and, moreover, perturbation initial conditions or input leads to different number than nominal trajectory's. This work extends sensitivity in...
Reference-spreading based trajectory tracking is a recently introduced control strategy for hybrid systems with state-triggered jumps that allows to handle the time mismatch between nominal and closed-loop impact times. In this paper, we demonstrate approach can even change in state dimension corresponding to, e.g., activation of unilateral contact constraint occurring when dealing mechanical experiencing inelastic impacts. We effectiveness by means simulations, addressing problem two-link...