Online optimization scheme with dual-mode controller for redundancy-resolution with torque constraints

Redundancy resolution of manipulators through torque optimization

A Robust Controller with Online Authority Transformation for Dual User Haptic Training System

In this study, a force reflection control structure is developed for the surgery training haptic system. In the surgery training haptic system, the surgical operation is cooperatively performed by a trainer and a trainee. The participation of each surgeon in the operation is established through their own haptic consoles. Although the operation is primarily performed by the trainee, the trainer ...

a new type-ii fuzzy logic based controller for non-linear dynamical systems with application to 3-psp parallel robot

abstract type-ii fuzzy logic has shown its superiority over traditional fuzzy logic when dealing with uncertainty. type-ii fuzzy logic controllers are however newer and more promising approaches that have been recently applied to various fields due to their significant contribution especially when the noise (as an important instance of uncertainty) emerges. during the design of type- i fuz...

Online Linear Optimization with Sparsity Constraints

We study the problem of online linear optimization with sparsity constraints in the 1 semi-bandit setting. It can be seen as a marriage between two well-known problems: 2 the online linear optimization problem and the combinatorial bandit problem. For 3 this problem, we provide two algorithms which are efficient and achieve sublinear 4 regret bounds. Moreover, we extend our results to two gener...

Online Convex Optimization with Stochastic Constraints

This paper considers online convex optimization (OCO) with stochastic constraints, which generalizes Zinkevich’s OCO over a known simple fixed set by introducing multiple stochastic functional constraints that are i.i.d. generated at each round and are disclosed to the decision maker only after the decision is made. This formulation arises naturally when decisions are restricted by stochastic e...