Related papers: Characterization of accessibility for affine conne…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…

For arrays of identical linear systems coupled through relative actuation four problems are studied: controllability, positive controllability, pairwise controllability, and positive pairwise controllability. To this end, related to the…

This paper deals with strong structural controllability of linear systems. In contrast to existing work, the structured systems studied in this paper have a so-called zero/nonzero/arbitrary structure, which means that some of the entries…

The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…

Performing real-time receding horizon motion planning for autonomous vehicles while providing safety guarantees remains difficult. This is because existing methods to accurately predict ego vehicle behavior under a chosen controller use…

We discuss controllability of systems that are initially given by boundary coupled p.d.e. of second order. Those systems may be described by modules over a certain subring R of the ring of Mikusinski operators with compact support. We show…

In this paper, we establish necessary and sufficient conditions for stable inversion, addressing challenges in non-minimum phase, non-square, and singular systems. An H-Infinity based algebraic approximation is introduced for near-perfect…

This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the…

In this paper, we study under which conditions the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

An algebraic characterization of the property of approximate controllability is given, for behaviours of spatially invariant dynamical systems, consisting of distributional solutions, that are periodic in the spatial variables, to a system…

Functional structures from across the engineered and biological world combine rigid elements such as bones and columns with flexible ones such as cables, fibers and membranes. These structures are known loosely as tensegrities, since these…

The control system described by Urysohn type integral equation is considered where the system is nonlinear with respect to the phase vector and is affine with respect to the control vector. The control functions are chosen from the closed…

In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…

This paper investigates the application of reachability analysis to the re-entry problem faced by vehicles entering Earth's atmosphere. The study delves into the time evolution of reachable sets for the system, particularly when subject to…

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…

Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…

The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…

Traditional robots have rigid links and structures that limit their ability to interact with the dynamics of their immediate environment. For example, conventional robot manipulators with rigid links can only manipulate objects using…