Related papers: Robust control of a bimorph mirror for adaptive op…

Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…

Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications. In this paper we develop a temporal viability regulation theory for general dynamical…

We study the controllability of the multidimensional wave equation in a bounded domain with Dirichlet boundary condition, in which the support of the control is allowed to change over time. The exact controllability is reduced to the proof…

We investigate the effects of atomic collisions as well as optomechanical mirror-field coupling on the optical bistability in a hybrid system consisting of a Bose-Einstein condensate inside a driven optical cavity with a moving end mirror.…

Diffraction limited resolution adaptive optics (AO) correction in visible wavelengths requires a high performance control. In this paper we investigate infinite impulse response filters that optimize the wavefront correction: we tested…

Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…

Discrete-time stochastic systems are an essential modelling tool for many engineering systems. We consider stochastic control systems that are evolving over continuous spaces. For this class of models, methods for the formal verification…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

In this paper we consider a class of linear time invariant systems with infinitely many unstable modes. By using the parameterization of all stabilizing controllers, we show that H-infinity controllers for such systems can be computed using…

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a…

The optical bistability (OB) in a two-mode optomechanical system with a Bose-Einstein condensate (BEC) is studied. By investigating the behavior of steady state solutions, we show that how OB develops in the system for a certain range of…

Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…

This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…

Interference-fit joints are typically adopted to produce permanent assemblies among mechanical parts. The resulting contact pressure is generally used for element fixing or to allow load transmission. Nevertheless, some special designs take…

We devise a laser-controlled adaptive optical element which operates intracavity under high intensity radiation. This element substitutes a conventional mechanically deformable mirror and is free of critical heat-sensitive components and…

The Durham adaptive optics real-time controller is a generic, high performance real-time control system for astronomical adaptive optics systems. It has recently had new features added as well as performance improvements, and here we give…

We present two concepts of deformable mirror to compensate for first order optical aberrations. Deformation systems are designed using both elasticity theory and Finite Element Analysis in order to minimize the number of actuators. Starting…

Predictive control is frequently used for control problems involving constraints. Being an optimization based technique utilizing a user specified so-called stage cost, performance properties, i.e., bounds on the infinite horizon…