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Set-Based Multi-Task Priority is a recent framework to handle inverse kinematics for redundant structures. Both equality tasks, i.e., control objectives to be driven to a desired value, and set-bases tasks, i.e., control objectives to be…
This article proposes a transfer reinforcement learning (RL) based adaptive energy managing approach for a hybrid electric vehicle (HEV) with parallel topology. This approach is bi-level. The up-level characterizes how to transform the…
Recently a new theory for the transport of energetic particles across a mean magnetic field was presented. Compared to other non-linear theories the new approach has the advantage that it provides a full time-dependent description of the…
In this paper a cascaded approach for stabilization and path tracking of a general 2-trailer vehicle configuration with an off-axle hitching is presented. A low level Linear Quadratic controller is used for stabilization of the internal…
We analyze transport of local magnetization and develop schemes to control transport behavior in finite spin-1/2 Heisenberg chains and spin-1/2 Heisenberg two-leg ladders at zero temperature. By adjusting parameters in the Hamiltonians,…
The efficiency of energy transduction in a temporally asymmetric rocked ratchet is studied. Time asymmetry favours current in one direction and suppresses it in the opposite direction due to which large efficiency ~ 50% is readily obtained.…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
Diffusion-based and iterative methods have become effective tools for solving imaging inverse problems. Their reconstruction process naturally forms a trajectory of intermediate estimates. Although these intermediate estimates define a…
Cross-flow turbines, also known as vertical-axis turbines, convert the kinetic energy in moving fluid to mechanical energy using blades that rotate about an axis perpendicular to the incoming flow. In this work, the performance of a…
We investigate transport properties of topologically disordered, three-dimensional, one-particle, tight binding models, featuring site distance dependent hopping terms. We start from entirely disordered systems into which we gradually…
A common approach for modeling the environment of an autonomous vehicle are dynamic occupancy grid maps, in which the surrounding is divided into cells, each containing the occupancy and velocity state of its location. Despite the advantage…
Autonomous vehicle control is generally divided in two main areas; trajectory planning and tracking. Currently, the trajectory planning is mostly done by particle or kinematic model-based optimization controllers. The output of these…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
We propose a general framework to study transformations that drive an underdamped Brownian particle in contact with a thermal bath from an equilibrium state to a new one in an arbitrarily short time. To this end, we make use of a time and…
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
Microfabricated ion trap chips are at the core of some of the most advanced quantum computers. How a large number of ions is arranged and controlled on an ion trap chip depends on the chosen trap architecture. One such architecture is the…
We numerically investigate the transport of a suspended overdamped Brownian particle which is driven through a two-dimensional rectangular array of circular obstacles with finite radius. Two limiting cases are considered in detail, namely,…
In this work, we study the inverse problem of analog gravity systems which admit rotation and energy-dependent boundary conditions. By extending two recent results, we provide a recipe that allows one to relate resonant transmission spectra…
In this paper, a framework for the combination of robust fractional order CRONE control with non-linear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset…