Related papers: Flatness-based Deformation Control of an Euler-Ber…
We consider linear one-dimensional parabolic equations with space dependent coefficients that are only measurable and that may be degenerate or singular.Considering generalized Robin-Neumann boundary conditions at both extremities, we prove…
This work addresses an optimal control problem constrained by a degenerate kinetic equation of parabolic-hyperbolic type. Using a hypocoercivity framework we establish the well-posedness of the problem and demonstrate that the optimal…
This study presents the application of variable-order (VO) fractional calculus to the modeling of nonlocal solids. The reformulation of nonlocal fractional-order continuum mechanic framework, by means of VO kinematics, enables a unique…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can…
We investigate the relevance of the conformal method by investigating stability issues for the Einstein-Lichnerowicz conformal constraint system in a nonlinear scalar-field setting. We prove the stability of the system with respect to…
We investigate the numerical approximation to the Euler-Bernoulli (E-B) beams and plates with nonlinear nonlocal strong damping, which describes the damped mechanical behavior of beams and plates in real applications. We discretize the…
A theory of dynamical control by modulation for optimal decoherence reduction is developed. It is based on the non-Markovian Euler-Lagrange equation for the energy-constrained field that minimizes the average dephasing rate of a qubit for…
Soft robots, distinguished by their inherent compliance and continuum structures, present unique modeling challenges, especially when subjected to significant external loads such as gravity and payloads. In this study, we introduce an…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
This paper develops a unified frequency-domain framework for the analysis of sliding-mode control systems, encompassing both discontinuous and Lipschitz-continuous implementations. Using describing function (DF) theory, closed-form…
We consider an inhomogeneous Euler-Bernoulli (EB) beam of length $L$ clamped at both ends and subject to : an external frictional damping and a thermal effect (Fourier law). We prove the well-posedness of the model and analyze the behavior…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
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…