Related papers: Global Controllability of Multidimensional Rigid B…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper introduces an experimental apparatus, which drives turbulence electrically in a liquid metal pervaded by a high magnetic field. Unlike past magnetohydrodynamic (MHD) setups involving a shallow confinement, the experiment…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
We study a single Markovian qubit governed by a Lindblad master equation and subject to fast unitary control. Using reduced control systems and optimal control theory we determine (i) controls for cooling and heating such systems in a…
In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…
A mechanical system consisting of a rigid body and attached Kirchhoff plates under the action of three independent controls torques is considered. The equations of motion of such model are derived in the form of a system of coupled…
We propose and theoretically analyze methods for quantum many-body control through geometric reshaping of molecular tweezer arrays. Dynamic rearrangement during entanglement is readily available due to the extended coherence times of…
We study a system composed of a free quantum particle trapped in a box whose walls can change their position. We prove the global approximate controllability of the system. That is, any initial state can be driven arbitrarily close to any…
We study controllability issues for the 2D Euler and Navier-Stokes (NS) systems under periodic boundary conditions. These systems describe motion of homogeneous ideal or viscous incompressible fluid on a two-dimensional torus…
This work addresses the optimal control of multibody systems being actuated with control forces in order to find a dynamically feasible minimum-energy trajectory of the system. The optimal control problem and its constraints are integrated…
A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…
This paper investigates the global controllability properties of the Cahn--Hilliard equation posed on the $d$-dimensional flat torus $\mathbb{T}^d$. We first establish small-time global approximate controllability of the system by means of…
Legged robots with advanced manipulation capabilities have the potential to significantly improve household duties and urban maintenance. Despite considerable progress in developing robust locomotion and precise manipulation methods,…
This work presents a novel approach for \textit{bearing rigidity} analysis and control in multi-robot networks with sensing constraints and dynamic topology. By decomposing the system's framework into \textit{subframeworks}, we express…
We survey results of recent activity towards studying controllability and accessibility issues for equations of dynamics of incompressible fluids controlled by low-dimensional or, degenerate, forcing. New results concerning controllability…
Optimal control of stochastic systems plays a central role in nonequilibrium physics, with applications in the study of biological molecular motors and the design of single-molecule experiments. While exact analytic solutions to…
We will give general sufficient conditions under which a controller achieves robust regulation for a boundary control and observation system. Utilizing these conditions we construct a minimal order robust controller for an arbitrary order…
The metriplectic formalism couples Poisson brackets of the Hamiltonian description with metric brackets for describing systems with both Hamiltonian and dissipative components. The construction builds in asymptotic convergence to a…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…
This chapter deals with the stabilization of a class of linear time-varying parabolic partial differential equations employing receding horizon control (RHC). Here, RHC is finite-dimensional, i.e., it enters as a time-depending linear…