Physical human-robot collaboration is increasingly required in many contexts (such as
industrial and rehabilitation applications). The robot needs to interact with the human to …

This paper proposes a robust exponential control barrier function (RECBF) for systems
affected by a class of mismatched disturbances, which forces system states to remain in a …

As technology evolves, more complex non-affine systems are created. These complex
systems are hard to model, whereas most controllers require information on systems to be …

Magnetic levitation system (MLS) is seldom modeled as a nonlinear system. This hinders the
incorporation of nonlinearity due to its control input into the model of the system. Literature …

A path following controller was proposed that allows autonomous vehicles to safely navigate
roundabouts. The controller consisted of a vector field algorithm that generated velocity …

In this paper, an optimal state feedback controller is designed for a nonaffine nonlinear
system. The nonaffine system is converted into affine system using mean value theorem …