Related papers: Robust control of a bimorph mirror for adaptive op…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…
Robust implementable output regulator design approaches are studied for general linear continuous-time \mbox{systems} with periodically sampled measurements, consisting of both the regulation errors and extra measurements that are generally…
Many robot control scenarios involve assessing system robustness against a task specification. If either the controller or environment are composed of "black-box" components with unknown dynamics, we cannot rely on formal verification to…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
A novel scheme for tunable optofluidic optical coupler is proposed, by using directional coupling waveguide structure and microfluidic channel with two tapers at end points. The normalized optical power at two output ports can be…
We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…
Adaptive optics (AO) offers an opportunity to stabilize an image and maximize the spatial resolution achievable by ground based telescopes by removing the distortions due to the atmosphere. Typically, the deformable mirror in an AO system…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
Precise optical phase control is crucial for innovations in telecommunications, optical computing, quantum information processing, and advanced sensing. However, conventional phase modulators often introduce parasitic amplitude modulation…
The Glauber model on a one-dimensional lattice with boundaries (for the ferromagnetic- and anti-ferromagnetic case) is considered. The large-time behaviour of the one-point function is studied. It is shown that, for any positive…
We discuss boundary control of a wave equation with a non-linear anti-damping boundary condition. We design structured finite-dimensional $H_\infty$-output feedback controllers which stabilize the infinite dimensional system exponentially…
Controlling infinite dimensional models remains a challenging task for many practitioners since they are not suitable for traditional control design techniques or will result in a high-order controller too complex for implementation.…
We investigate theoretically the effect of optical feedback from a cavity containing an ultracold two level atomic ensemble, on the bistable behavior shown by mean intracavity optical field in an optomechanical cavity resonator. It turns…
Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence of variations in the operating conditions, the model should…
Recent advances in adaptive optics (AO) have led to the implementation of wide field-of-view AO systems. A number of wide-field AO systems are also planned for the forthcoming Extremely Large Telescopes. Such systems have multiple wavefront…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
Robust output regulation for linear time-varying systems has remained an open problem for decades. To address this, we propose the trajectory-matching system immersion framework, by reformulating the regulator equation into a more…