Related papers: Global Controllability of Multidimensional Rigid B…
In this paper, we present the controllability properties of Keplerian motion controlled by low-thrust control systems. The low-thrust control system, compared with high or even impulsive control system, provide a fuel-efficient means to…
This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…
In this paper, we consider the controlled rigid spacecraft with an internal rotor as a regular point reducible regular controlled Hamiltonian (RCH) system. In the cases of coincident and non-coincident centers of buoyancy and gravity, we…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
We investigate the internal controllability of the wave equation with structural damping on the one dimensional torus. We assume that the control is acting on a moving point or on a moving small interval with a constant velocity. We prove…
This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…
In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order…
This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of a quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
In this paper, we examine the question of the boundary controllability of the one-dimensional non-isentropic Euler equation for compressible polytropic gas, in the context of weak entropy solutions. We consider the system in Eulerian…
Expositions of the Euler equations for the rotation of a rigid body often invoke the idea of a specially damped system whose energy dissipates while its angular momentum magnitude is conserved in the body frame. An attempt to explicitly…
We consider the motion of several rigid bodies immersed in a two-dimensional incompressible perfect fluid. The motion of the rigid bodies is given by the Newton laws with forces due to the fluid pressure and the fluid motion is described by…
The aim of this work is to study the controllability of the Schr\"odinger equation \begin{equation}\label{eq_abstract} i\partial_t u(t)=-\Delta u(t)~~~~~\text{ on }\Omega(t) \tag{$\ast$} \end{equation} with Dirichlet boundary conditions,…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this…
In this paper, we study the controllability of the two-dimensional relativistic Vlasov-Maxwell system in a torus, by means of an interior control. We give two types of results. With the geometric control condition on the control set, we…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
This paper presents sufficient conditions for small-time local controllability of a control-affine system that describes the rotational motion of a satellite in a circular orbit. The satellite is modeled as a rigid body subject to…
Quadrupedal manipulators require to be compliant when dealing with external forces during autonomous manipulation, tele-operation or physical human-robot interaction. This paper presents a whole-body controller that allows for the…