Research output per year
Research output per year
Project Details
Grant Program
Faculty Development Competitive Research Grants 2020-2022
Project Description
Our project aims at defining a general paradigm for the motion planning, state estimation and closed-loop control of robotic manipulators based on the tensegrity paradigm. The project will be based on our preliminary results on modeling and design of tensegrity manipulators, and on the availability of a newly built prototype of 2-stage tensegrity structure in our lab. The explored methods will span sampling-based algorithms, numerical optimal control, model predictive control and moving horizon estimation, and reinforcement learning: all of them will be implemented on real-time platforms and tested experimentally.
| Status | Finished |
|---|---|
| Effective start/end date | 1/1/20 → 12/31/22 |
Keywords
- Robotics
- Control systems
Fingerprint
Explore the research topics touched on by this project. These labels are generated based on the underlying awards/grants. Together they form a unique fingerprint.
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Deep Robust Control of a Mechatronic System With Parametric Uncertainties
Baimukashev, D., Rzagaliyev, Y., Rubagotti, M. & Varol, H. A., 2022, 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers Inc., p. 1031-1038 8 p. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; vol. 2022-July).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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End-to-End Deep Fault Tolerant Control
Baimukashev, D., Rakhim, B., Rubagotti, M. & Varol, H. A., Aug 4 2022, In: IEEE/ASME Transactions on Mechatronics. 27, 4, p. 2224-2234 11 p.Research output: Contribution to journal › Article › peer-review
8 Citations (Scopus) -
Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach
Rubagotti, M., Incremona, G. P., Raimondo, D. M. & Ferrara, A., Aug 2021, In: IEEE Transactions on Automatic Control. 66, 8, p. 3802-3809 8 p., 9199109.Research output: Contribution to journal › Article › peer-review
25 Citations (Scopus)