Related papers: A Review on Recent Active Vibration Control Techni…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
Robust control of quantum systems is an increasingly relevant field of study amidst the second quantum revolution, but there remains a gap between taming quantum physics and robust control in its modern analytical form that culminated in…
We offer our opinion on the benefits of integration of insights from active matter physics with principles of regulatory interactions and control to develop a field we term ``smart matter". This field can provide insight into important…
Safety control of dynamical systems using barrier functions relies on knowing the full state information. This paper introduces a novel approach for safety control in uncertain MIMO systems with partial state information. The proposed…
Smart structures are usually designed with a stimulus-response mechanism to mimic the autoregulatory process of living systems. In this work, in order to simulate this natural and self-adjustable behavior, a fuzzy feedback linearization…
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…
Gear box dynamics is characterised by a periodically changing stiffness and a backlash which can lead to a loss of the contact between the teeth. Due to backlash, the gear system has piecewise linear stiffness characteristics and, in…
This paper presents a novel fuzzy logic based Adaptive Super-twisting Sliding Mode Controller for the control of dynamic uncertain systems. The proposed controller combines the advantages of Second order Sliding Mode Control, Fuzzy Logic…
The integration of advanced control strategies into prosthetic hands is essential to improve their adaptability and performance. In this study, we present an implementation of a Model Predictive Control (MPC) strategy to regulate the…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
In this paper, we propose a novel non-contact vibration measurement system that is competent in estimating linear and/or rotational motions of machine parts. The technique combines microwave radar, standard camera, and optical strobe to…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
One major objective of controlling classical chaotic dynamical systems is exploiting the system's extreme sensitivity to initial conditions in order to arrive at a predetermined target state. In a recent letter [Phys.~Rev.~Lett. 130, 020201…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
First we present and theoretically analyze the phenomenological physical picture behind Vibration-Induced Conductivity Fluctuations. We identify the relevant tensors characterizing the electromechanical response against the vibrations for…
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
This letter proposes a new control strategy for wind turbine generators to decide the necessity of switches between the normal operation and frequency support modes. The idea is to accurately predict an unsafe frequency response using a…
This work is devoted to demonstration of the analysis on optimizing the output power harvested from vibration energy harvester.