6 accepted papers
Control barrier functions (CBFs) are used in safety-critical control strategies, implementing a modification of a nominal control action to achieve invariance of a subset of the state space representing safe operating conditions. In this paper we perform a comparative study involving existing safety…
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a minimally invasive manner to achieve the desired kinetic energy l…
This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs are discretized using a finite-difference method, and proper …
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed scheme is able to modify a nominal control action in a minimally invasive manner to achieve the desired kinetic energy l
As situations with robots working in human environments are becoming increasingly important, the aspect of safety is crucial. As a consequence, the design of human friendly robots has been intensively researched in the past years, producing both mechanical and control design advancements. In this wo
In this work, we approach the control problem of fully-actuated UAVs in a geometric port-Hamiltonian framework. The UAV is modeled as a floating rigid body on the special Euclidean group SE(3). A unified near-hovering motion and impedance controller is derived by the energy-balancing passivity-based