Related papers: Robust control of a bimorph mirror for adaptive op…
Recent advances in nanostructure fabrication and optical control, suggest that it will soon be possible to prepare collections of interacting two-level systems (i.e. qubits) within an optical cavity. Here we show theoretically that such…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Current and future high-contrast imaging instruments require extreme Adaptive Optics (XAO) systems to reach contrasts necessary to directly image exoplanets. Telescope vibrations and the temporal error induced by the latency of the control…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
We demonstrate real-time wavefront correction in a high-energy high-average-power DiPOLE100/Bivoj laser using adaptive optics. A bimorph deformable mirror and Shack-Hartmann wavefront sensor reduced wavefront error tenfold and improved the…
We characterize the local properties of an optomechanical system comprising the movable mirror of a resonator and its intracavity field, mutually coupled via radiation-pressure. Our approach shows that both the state of the mirror and the…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
Distributionally robust control is a well-studied framework for optimal decision making under uncertainty, with the objective of minimizing an expected cost function over control actions, assuming the most adverse probability distribution…
The search for exoplanets is pushing adaptive optics systems on ground-based telescopes to their limits. One of the major limitations at small angular separations, exactly where exoplanets are predicted to be, is the servo-lag of the…
We consider a system that is exactly controllable. For given initial state, terminal state and objective function, an optimal control is often well-defined. Such an optimal control has the disadvantage that although it works perfectly well…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
High-Performance Adaptive Optics systems are rapidly spreading as useful applications in the fields of astronomy, ophthalmology, and telecommunications. This technology is critical to enable coronagraphic direct imaging of exoplanets…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
We use a non-smooth trust-region method for $H_\infty$-control of infinite-dimensional systems. Our method applies in particular to distributed and boundary control of partial differential equations. It is computationally attractive as it…
In this paper we propose a new methodology for solving an uncertain stochastic Markovian control problem in discrete time. We call the proposed methodology the adaptive robust control. We demonstrate that the uncertain control problem under…
A dynamic mitigation mechanism for instability growth was proposed and discussed in the paper [Phys. Plasmas 19, 024503 (2012)]. In the present paper the robustness of the dynamic instability mitigation mechanism is discussed further. The…
The frequency-domain data of a multivariable system in different operating points is used to design a robust controller with respect to the measurement noise and multimodel uncertainty. The controller is fully parametrized in terms of…
Both dynamic and static approaches are proposed and investigated for controlling the optical phase of a p-polarized light wave that is guided through a surface-patterned metallic structure with subwavelength features. For dynamic control,…