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We theoretically study a strongly-driven optomechanical system which consists of a passive optical cavity and an active mechanical resonator. When the optomechanical coupling strength is varied, phase transitions, which are similar those…
This paper is the first part of a project devoted to studying the interconnection between controllability properties of a dynamical system and the large-time asymptotics of trajectories for the associated stochastic system. It is proved…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
Optical cavities with moving mirrors provide a versatile platform for exploring radiation-matter interactions and optically mediated mechanical effects, whose control has wide technological implications. However, capturing the coupled…
In this work, we develop a method based on robust control techniques to synthesize robust time-varying state-feedback policies for finite, infinite, and receding horizon control problems subject to convex quadratic state and input…
Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
Output-based controllers are known to be fragile with respect to model uncertainties. The standard $\mathcal{H}_{\infty}$-control theory provides a general approach to robust controller design based on the solution of the…
Continuous phase estimation is known to be superior in accuracy as compared to static estimation. The estimation process is, however, desired to be made robust to uncertainties in the underlying parameters. Here, homodyne phase estimation…
Many chemical processes exhibit diverse timescale dynamics with a strong coupling between timescale sensitive variables. Model predictive control with a non-uniformly spaced optimisation horizon is an effective approach to multi-timescale…
This paper proposes an adaptive modular geometric control framework for robotic manipulators. The proposed methodology decomposes the overall manipulator dynamics into individual modules, enabling the design of local geometric control laws…
A sliding-mode-based adaptive boundary control law is proposed for a class of uncertain thermal reaction-diffusion processes subject to matched disturbances. The disturbances are assumed to be bounded, but the corresponding bounds are…
Research on active control for the delay of laminar-turbulent transition in boundary layers has made a significant progress in the last two decades, but the employed strategies have been many and dispersed. Using one framework, we review…
We study the singular stochastic optimal control problem with model uncertainty, where the necessary conditions determined by the corresponding maximum principle are trivial. Robust integral form and pointwise second order necessary…
In this paper, a continuous-time adaptive actor-critic reinforcement learning (RL) controller is developed for drift-free nonlinear systems. Practical examples of such systems are image-based visual servoing (IBVS) and wheeled mobile robots…
There are different techniques to sense the wavefront phase-distortions due to atmospheric turbulence. Curvature sensors are practical in their sensitivity being adjustable to the prevailing atmospheric conditions. Even at the best sites,…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
We investigate the dynamics of an optomechanical system where a cavity with a movable mirror involves a degenerate optical parametric amplifier and is driven by a periodically modulated laser field. Our results show that the cooperation…