3 papers
cs.RO2025
Tensor Invariant Data-Assisted Control and Dynamic Decomposition of Multibody Systems
Mostafa Eslami, Maryam Babazadeh
The control of robotic systems in complex, shared collaborative workspaces presents significant challenges in achieving robust performance and safety when learning from experienced…
eess.SY2025
Learning-Based Data-Assisted Port-Hamiltonian Control for Free-Floating Space Manipulators
Mostafa Eslami, Maryam Babazadeh
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to a…
eess.SY2025
On the Generalization of Data-Assisted Control in port-Hamiltonian Systems (DAC-pH)
Mostafa Eslami, Maryam Babazadeh
This paper introduces a hypothetical hybrid control framework for port-Hamiltonian (p) systems, employing a dynamic decomposition based on Data-Assisted Control (DAC).…