Related papers: Bearing Rigidity and Almost Global Bearing-Only Fo…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
This paper addresses the problem of time-varying bearing formation control in $d$ $(d\ge 2)$-dimensional Euclidean space by exploring Persistence of Excitation (PE) of the desired bearing reference. A general concept of Bearing Persistently…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
We study the problem of distance-based formation control in autonomous multi-agent systems in which only distance measurements are available. This means that the target formations as well as the sensed variables are both determined by…
We study the boundary rigidity problem with partial data consisting of determining locally the Riemannian metric of a Riemannian manifold with boundary from the distance function measured at pairs of points near a fixed point on the…
New singularity theorems are derived for generic warped-product spacetimes of any dimension. The main purpose is to analyze the stability of (compact or large) extra dimensions against dynamical perturbations. To that end, the base of the…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Localization of plastic strain induced by softening can be objectively described by a regularized plasticity model that postulates a dependence of the current yield stress on a nonlocal softening variable defined by a differential…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…
By an undirected rigid formation of mobile autonomous agents is meant a formation based on graph rigidity in which each pair of "neighboring" agents is responsible for maintaining a prescribed target distance between them. In a recent paper…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
In this work I outline a general procedure for dynamic modeling and stability analysis of a magnetic bearing, which is a rotating shaft confined inside a chamber through electromagnetic forces alone. I consider the simplest type of…
A framework (a straight-line embedding of a graph into a normed space allowing edges to cross) is globally rigid if any other framework with the same edge lengths with respect to the chosen norm is an isometric copy. We investigate global…
We consider the design of optimal localized feedback gains for one-dimensional formations in which vehicles only use information from their immediate neighbors. The control objective is to enhance coherence of the formation by making it…
This paper presents an alternative approach to the study of distance rigidity in networks of mobile agents, based on a subframework scheme. The advantage of the proposed strategy lies in expressing framework rigidity, which is inherently…
This paper proposes a port-Hamiltonian framework for angle-based formation stabilization and maneuvers using bearing and velocity measurements with an underlying triangulated Laman graph. The corresponding port-Hamiltonian controller is…
A rigidity theory is developed for bar-joint frameworks in $\mathbb{R}^{d+1}$ whose vertices are constrained to lie on concentric $d$-spheres with independently variable radii. In particular, combinatorial characterisations are established…
Slender structures, such as rods, often exhibit large nonlinear geometrical deformations even under moderate external forces (e.g., gravity). This characteristic results in a rich variety of morphological changes, making them appealing for…