R. Beerens

TL;DR: A two-layer control architecture for bilateral teleoperation with communication delays that mimics the operator action, whereas the master controller reflects the slave-environment interaction and compares the controller with the state of the art.

TL;DR: A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time.

TL;DR: The main steps of the Lyapunov-based proofs associated with the reset-enhanced PID controllers involve building semiglobal hybrid representations of the solutions in the form of hybrid automata whose logical variables enable transforming the aforementioned discontinuous function into smooth or at least Lipschitz ones.

TL;DR: A reset control approach to achieve setpoint regulation of a motion system with a proportional-integral-derivative (PID)-based controller, subject to Coulomb friction and a velocity-weakening contribution, showing superior performance over classical PID control.

TL;DR: A decentralized allocation algorithm is presented, which enhances the computational efficiency and facilitates the scalability to larger system configurations and achieves enhanced tracking performance and enlarged motion freedom.