Related papers: Modeling and controlling an active constrained lay…
Finite pieces of locally isostatic networks have a large number of floppy modes because of missing constraints at the surface. Here we show that by imposing suitable boundary conditions at the surface, the network can be rendered…
Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
We present temporally layered architecture (TLA), a biologically inspired system for temporally adaptive distributed control. TLA layers a fast and a slow controller together to achieve temporal abstraction that allows each layer to focus…
We present initial results regarding the existence, stability and interaction of linear and nonlinear vibrational modes in a system of two coupled, one dimensional lattices with unequal numbers of masses. The effects on these nonlinear…
We address the problem of verifying closed-loop contraction in nonlinear control systems whose controller and contraction metric are both parameterized by neural networks. By leveraging interval analysis and interval bound propagation, we…
This paper contains a thorough investigation of the performance of electrically activated layered soft dielectric composite actuators under plane deformation. Noting that the activation can be induced controlling either the voltage or the…
Nonlinear underactuated systems such as two-wheeled inverted pendulums (TWIPs) exhibit a limited region of attraction (RoA), which defines the set of initial conditions from which the closed-loop system converges to the equilibrium. The RoA…
We investigate the role of information in active feedback control of quantum many-body systems using reinforcement learning. Active feedback breaks detailed balance, enabling the engineering of steady states and dynamical phases of matter…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
We consider two cantilevered beams undergoing frictional impacts at the free end. The beams are designed to be of similar geometry so that they have distinct but close natural frequencies. Under harmonic base excitation near the primary…
The linearized problem of plasma oscillations in layer (particularly, in thin films) in external longitudinal alternating electric field is solved analytically. Specular - accommodative boundary conditions of electron reflection from the…
Accurate and robust positioning of rotor axle is essential for efficient and safe operation of high-speed rotational machines with active magnetic bearings. This study presents a cascaded nonlinear control strategy for vertical axial…
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the…
In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…
Current model-free adaptive control (MFAC) method has no been analysed in linear system and is not straightforward for the practical engineers to understand accurately. This correspondence presents a family of MFAC based on a modified…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
Control of complex processes is a major goal of network analyses. Most approaches to control nonlinearly coupled systems require the network topology and/or network dynamics. Unfortunately, neither the full set of participating nodes nor…
Electrokinetic boundary conditions are derived for AC electrokinetic (ACEK) phenomena over leaky dielectric (i.e., semiconducting) surfaces. Such boundary conditions correlate the electric potentials across the semiconductor-electrolyte…
As the penetration of intermittent energy sources grows substantially, loads will be required to play an increasingly important role in compensating the fast time-scale fluctuations in generated power. Recent numerical modeling of…