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An industry-grade proportional valve is much cheaper and rugged than a servovalve. A feedforward controller for a proportional-valved system has been developed here to achieve tracking controls beyond 1 Hz that are usually attained by servovalves. For compensating the higher nonlinearities, feedforward controllers have been designed offline by proposing appropriate static models for friction and valve...
We study the collective transport of robots (CTR) problem. A large number of commodity mobile robots are to be moved from one location to another by a single operator. Joysticking each one or carrying them physically is impractical. None of the robots are particularly sophisticated in their ability to plan or reason. Prior work on flocking and formation control has addressed the transport of a robot...
Dynamic positioning is an important application for marine vehicles that do not have the luxury of anchoring or mooring themselves. Such vehicles are usually large and have arrays of thrusters that allow for controllability in the sway as well as the surge and yaw axes. Most smaller boats however, are underactuated and do not possess control in the sway direction. This makes the control problem significantly...
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