Related papers: Formation Control of Rigid Graphs with a Flex Node…
This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…
Magnetic reconnection, a fundamental plasma process, is pivotal in understanding energy conversion and particle acceleration in astrophysical systems. While extensively studied in two-dimensional (2D) configurations, the dynamics of…
Contact-drop dispensing is central to many small-scale applications, such as direct-scanning probe lithography and micromachined fountain-pen techniques. Accurate and controllable dispensing required for nanometer-resolved surface…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Graph databases have been the subject of significant research and development. Problems such as modularity, centrality, alignment, and clustering have been formalized and solved in various application contexts. In this paper, we focus on…
In this paper we consider the problem of a multi-agent system achieving a formation in the presence of misbehaving or adversarial agents. We introduce a novel continuous time resilient controller to guarantee that normally behaving agents…
In this paper, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the…
This paper is devoted to describe the asymptotic behavior of a structure made by a thin plate and a thin rod in the framework of nonlinear elasticity. We scale the applied forces in such a way that the level of the total elastic energy…
Heterogeneous growth plays an important role in the shape and pattern formation of thin elastic structures ranging from the petals of blooming lilies to the cell walls of growing bacteria. Here we address the stability and regulation of…
We prove that a graph has an infinitesimally rigid placement in a non-Euclidean normed plane if and only if it contains a $(2,2)$-tight spanning subgraph. The method uses an inductive construction based on generalised Henneberg moves and…
We examine the generic local and global rigidity of various graphs in R^d. Bruce Hendrickson showed that some necessary conditions for generic global rigidity are (d+1)-connectedness and generic redundant rigidity and hypothesized that they…
The ability to control a complex network towards a desired behavior relies on our understanding of the complex nature of these social and technological networks. The existence of numerous control schemes in a network promotes us to wonder:…
We interpret realizations of a graph on the sphere up to rotations as elements of a moduli space of curves of genus zero. We focus on those graphs that admit an assignment of edge lengths on the sphere resulting in a flexible object. Our…
A path-following control algorithm enables a system's trajectories under its guidance to converge to and evolve along a given geometric desired path. There exist various such algorithms, but many of them can only guarantee local convergence…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D Euclidean space. The control signal at a vehicle is allowed to use relative position and velocity…
This paper extends graphic statics by describing the forces and moments in any 3D rigid-jointed frame structure in terms of cell complexes using homology theory of algebraic topology. Graphic statics provides a highly geometric way to…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
We address the problems of bearing-only consensus and formation control, where each agent can only measure the relative bearings of its neighbors and relative distances are not available. We provide stability results for the Filippov…
In the study of dynamical systems on networks/graphs, a key theme is how the network topology influences stability for steady states or synchronized states. Ideally, one would like to derive conditions for stability or instability that…