Related papers: Modelling and closed loop control of near-field ac…
The essence of levitation technology is the countervailing of gravity. It is known that an ultrasound standing wave is capable of suspending small particles at its sound pressure nodes. The acoustic axis of the ultrasound beam in…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
The central theme of this work is that a stable levitation of a denser non-magnetizable liquid droplet, against gravity, inside a relatively lighter ferrofluid -- a system barely considered in ferrohydrodynamics -- is possible, and exhibits…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
Flapping animal flight is often modeled as a combined pitching and heaving motion in order to investigate the unsteady flow structures and resulting forces that could augment the animal's lift and propulsive capabilities. This work isolates…
The precise control of gas generator pressure is important to obtain variable thrust in ducted rockets. A delay resistant closed loop reference model adaptive control is proposed in this paper to address this problem. The proposed…
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper presents a data-driven approach to identifying soft…
We study several examples of kinetically constrained lattice models using dynamically accessible volume as an order parameter. Thereby we identify two distinct regimes exhibiting dynamical slowing, with a sharp threshold between them. These…
A closed-loop control of a reaction-diffusion type process is introduced. The control system consist of a finite number of control and measurement devices. The measurement devices collect information about the current state of the process.…
We investigate the levitation of a drop gently deposited onto the inner wall of a rotating hollow cylinder. For a sufficient velocity of the wall, the drop steadily levitates over a thin air film and reaches a stable angular position in the…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…
We report on experimental and numerical studies aimed at developing an improved paradigm to model animal flight at moderate Reynolds numbers ($ 20 k - 50k $). A series of experiments were performed to characterize the behaviors of…
Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…