Antifragile Control Systems: The Case of Mobile Robot Trajectory Tracking Under Uncertainty and Volatility | IEEE Journals & Magazine | IEEE Xplore

Antifragile Control Systems: The Case of Mobile Robot Trajectory Tracking Under Uncertainty and Volatility


Fragility-robustness-antifragility spectrum in robot trajectory tracking. Existing approaches can compensate for an increase in amplitude and timing (i.e., uncertainty an...

Abstract:

Assistive care robots operate in cluttered, complex environments, akin to human residences, and need to face sensor and actuator faults during their operation without com...Show More

Abstract:

Assistive care robots operate in cluttered, complex environments, akin to human residences, and need to face sensor and actuator faults during their operation without compromising safety. In these situations, the system must foresee and provide reactions that are beyond robust in addition to compensating for uncertainty and volatility in its functioning. We propose a new control design framework based on the principles of antifragility. In this work, we provide a formal concept of antifragile control and outline the design procedures for creating a mobile robot trajectory-tracking antifragile controller. An extended comparative evaluation against other controllers and a methodical investigation of the performance under parametrizable uncertainty and errors is also provided. Our findings demonstrate the effectiveness of antifragile closed-loop control in volatile and unanticipated circumstances.
Fragility-robustness-antifragility spectrum in robot trajectory tracking. Existing approaches can compensate for an increase in amplitude and timing (i.e., uncertainty an...
Published in: IEEE Access ( Volume: 11)
Page(s): 138188 - 138200
Date of Publication: 05 December 2023
Electronic ISSN: 2169-3536

Funding Agency:


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