Related papers: Keyboard Based Control of Four Dimensional Rotatio…
This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…
Control of a hybrid dynamical system can manifest in one of two main ways: either through the continuous or the discrete dynamics. An example of controls influencing the continuous dynamics is legged locomotion, where the joints are…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
Quantum tracking control aims to identify applied fields to steer the expectation values of particular observables along desired paths in time. The associated temporal fields can be identified by inverting the underlying dynamical equations…
Quantum vortices in superfluids have been an important research area for many decades. Naturally, research on this topic has focused on two and three-dimensional superfluids, in which vortex cores form points and lines, respectively. Very…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
Denavit and Hartenberg-based methods, such as Cardan, Fick, and Euler angles, describe the position and orientation of an end-effector in three-dimensional (3D) space. However, these methods have a significant drawback as they impose a…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
The ability to manipulate coherently individual quantum objects organized in arrays is a prerequisite to any scalable quantum information platform. For electron spin qubits, it requires the fine tuning of large arrays of tunnel-coupled…
Using the normalized B-bases of vector spaces of trigonometric and hyperbolic polynomials of finite order, we specify control point configurations for the exact description of higher dimensional (rational) curves and (hybrid) multivariate…
The general 4D rotation matrix is specialised to the general 3D rotation matrix by equating its leftmost top element (a00) to 1. Its associate matrix of products of the left-hand and right-hand quaternion components is specialised…
In recent years several approaches to quantum gravity have found evidence for a scale dependent spectral dimension of space-time varying from four at large scales to two at small scales of order of the Planck length. The first evidence came…
The geometry of rotations in dimensions 3, 4, and 5 is discussed using the matrix exponential map. Explicit closed formulas for the exponential of an antisymmetric matrix, as well as the logarithm of a rotation, are given for these…
Dynamic control of a soft-body robot to deliver complex behaviors with low-dimensional actuation inputs is challenging. In this paper, we present a computational approach to automatically generate versatile, underactuated control policies…