During the last two decades, exoskeleton robot-assisted neurorehabilitation has received a lot of attention. The major reason for active research in rehabilitation is its ability to provide various types physical therapy at different stages and neurological recovery. performance greatly influenced by robot motion control system. Robot dynamics are nonlinear, but many linear schemes can adequate...

We consider the problem of controlling a Linear Quadratic Regulator (LQR) system over finite horizon $T$ with fixed and known cost matrices $Q,R$, but unknown non-stationary dynamics $\{A_t, B_t\}$. The sequence can be arbitrary, total variation, $V_T$, assumed to $o(T)$ controller. Under assumption that stabilizing, potentially sub-optimal controllers is available for all $t$, we present an al...

In this article, we propose a fast reinforcement learning (RL) control algorithm that enables online of large-scale networked dynamic systems. RL is an effective way designing model-free linear quadratic regulator (LQR) controllers for time-invariant (LTI) networks with unknown state-space models. However, when the network size large, conventional can result in unacceptably long times. The prop...

The linear quadratic regulator (LQR) problem is a cornerstone of automatic control, and it has been widely studied in the data-driven setting. various approaches can be classified as indirect (i.e., based on an identified model) versus direct or robust taking uncertainty into account) certainty-equivalence. Here we show how to bridge these different formulations propose novel, direct, regulariz...

This paper presents the station keeping challenge of subsea shuttle tanker (SST) design during underwater loading and offloading at a well under an extreme current environment. The investigates movement SST with speeds, i.e. above 1.6 m/s, in surge, heave pitch motions, respectively. A linear quadratic regulator (LQR) is used for motion control. LQR’s primary focus to achieve target process. Th...

In this work, the boundary control of a distributed parameter system (DPS) modeled by parabolic partial differential equations with spatially varying coefficients is studied. An infinite dimensional state space setting is formulated and an exact transformation of the boundary actuation is realized to obtain an evolutionary model. The evolutionary model is used for subsequent linear quadratic re...

ABSTRACT In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Most of the SMC control strategies are based on state feedback, however not all of the state feedbacks are available. The multirate output feedback (MROF) used output feedback, therefore the state are always available at any condi...

The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the system, several algorithms have been analyzed including their advantages and disadvantages: PID, Linear Quadratic Regulator (LQR), Sliding mode, Backstepping, F...

Kinodynamic planning algorithms like RapidlyExploring Randomized Trees (RRTs) hold the promise of finding feasible trajectories for rich dynamical systems with complex, non-convex constraints. In practice, these algorithms perform very well on configuration space planning, but struggle to grow efficiently in systems with dynamics or differential constraints when using conventional proximity met...

A large class of problems in robotics, e.g., trajectory tracking with obstacle avoidance, compliant motion control, and complex assembly, can be formulated as a least-squares tracking problem on the Euclidean group subject to constraints on the state and/or control. In this note we develop an optimal control framework for this general class of problems, and derive analytic solutions for the loc...