Claudio Urrea

Fuzzy Control Strategies Development for a 3-DoF Robotic Manipulator in Trajectory Tracking

2023 · Processes

This research delves into the development and evaluation of two distinct controllers for a 3-DoF robotic arm in the context of Industry 4.0. Two primary control strategies are presented in the study. The first is …

Probabilistic Safety Guarantees for Learned Control Barrier Functions: Theory and Application to Multi-Objective Human–Robot Collaborative Optimization

2026 · Mathematics

Designing provably safe controllers for high-dimensional nonlinear systems with formal guarantees represents a fundamental challenge in control theory. While control barrier functions (CBFs) provide safety certificates through forward invariance, manually crafting these barriers for complex …