Related papers: Modelling and closed loop control of near-field ac…
Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…
In this paper we present a numerical scheme to simulate a moving rigid body with arbitrary shape suspended in a rarefied gas. The rarefied gas is simulated by solving the Boltzmann equation using a DSMC particle method. The motion of the…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
Kinetically-constrained models are lattice-gas models that are used for describing glassy systems. By construction, their equilibrium state is trivial and there are no equal-time correlations between the occupancy of different sites. We…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
Classical discrete-time adaptive controllers provide asymptotic stabilization and tracking; neither exponential stabilization nor a bounded noise gain is typically proven. In recent work it has been shown, in both the pole placement…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
Assembling lattices from discrete building blocks enables the composition of large, heterogeneous, and easily reconfigurable objects with desirable mass-to-stiffness ratios. This type of building system may also be referred to as a digital…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
Inspired by biological systems, we introduce a general framework for quasi-static shape control of human-scale structures under slowly varying external actions or requirements. In this setting, shape control aims to traverse the stable…
We propose to introduce additional control in levitated optomechanics by trapping a meta-atom, i.e. a subwavelength and high-permittivity dielectric particle supporting Mie resonances. In particular, we theoretically demonstrate that…
We investigate open- and closed-loop active control for aerodynamic drag reduction of a car model. Turbulent flow around a blunt-edged Ahmed body is examined at $Re_{H}\approx3\times10^{5}$ based on body height. The actuation is performed…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
Open-loop control is known to be an effective strategy for controlling self-excited thermoacoustic oscillations in turbulent combustors. In this study, we investigate the suppression of thermoacoustic instability in a lean premixed,…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
We present a control-volume approach for deriving a simplified model for the gravity-driven flow of an axisymmetric liquid film along a vertical fiber. The model accounts for gravitational, viscous, inertial and surface tension effects and…
This study presents a noise-robust closed-loop control strategy for wake flows employing model predictive control. The proposed control framework involves the autonomous offline selection of hyperparameters, eliminating the need for user…
Electrostatic adhesion is widely used in mobile robotics, haptics, and robotic end effectors for its adaptability to diverse substrates and low energy consumption. Force sensing is important for feedback control, interaction, and monitoring…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…