Related papers: Flatness-based Deformation Control of an Euler-Ber…
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,…
This paper introduces a modeling framework that is suitable to resolve singularities of impact phenomena encountered in applications. The method involves an exact transformation that turns the continuum, often partial differential equation…
We present a strongly-coupled immersed-boundary method for flow-structure interaction problems involving thin deforming bodies. The method is stable for arbitrary choices of solid-to-fluid mass ratios and for large body motions. As with…
This paper proposes a Lyapunov based approach to control the rotation of a flat disk spinning in the space without external forces. The motion of the disk is governed by the Euler's rotation equation for spinning objects. The control is…
We propose and analyze the numerical approximation for a viscoelastic Euler-Bernoulli beam model containing a nonlinear strong damping coefficient. The finite difference method is used for spatial discretization, while the backward Euler…
In this paper the classical Euler-Bernoulli beam (CEBB) theory is reformulated utilising fractional calculus. Such generalisation is called fractional Euler-Bernoulli beams (FEBB) and results in non-local spatial description. The parameters…
This paper addresses the challenges of the Euler-Bernoulli beam theory regarding shortening and stretching assumptions. Certain boundary conditions, such as a cantilever with a horizontal spring attached to its end, result in beams that…
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…
Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…
In this paper, the vibration model of an elastic beam, governed by the damped Euler-Bernoulli equation $\rho(x)u_{tt}+\mu(x)u_{t}$$+\left(r(x)u_{xx}\right)_{xx}=0$, subject to the clamped boundary conditions $u(0,t)=u_x(0,t)=0$ at $x=0$,…
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…
We consider non-stationary localized oscillations of an infinite Bernoulli-Euler beam. The beam lies on the Winkler foundation with a point inhomogeneity (a concentrated spring with negative time-varying stiffness). In such a system with…
Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…
Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…
The energy shaping method, Controlled Lagrangian, is a well-known approach to stabilize the under-actuated Euler Lagrange (EL) systems. In this approach, to construct a control rule, some nonlinear, nonhomogeneous partial differential…
We consider a linear Korteweg-de Vries equation on a bounded domain with a left Dirichlet boundary control.The controllability to the trajectories of such a system was proved in the last decade by using Carleman estimates.Here, we go a step…
We derive in a straightforward way the null controllability of a 1-D heat equation with boundary control. We use the so-called {\em flatness approach}, which consists in parameterizing the solution and the control by the derivatives of a…
Pneumatic artificial muscles are a quite interesting type of actuators which have a very high power-to-weight and power-to-volume ratio. However, their efficient use requires very accurate control methods which can take into account their…
In this article, we formulate a monolithic optimal control method for general time-dependent Fluid-Structure Interaction (FSI) systems with large solid deformation. We consider a displacement-tracking type of objective with a constraint of…
Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…