Related papers: Control Synthesis for an Underactuated Cable Suspe…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
This paper presents an analytical and experimental design and deployment control analysis of a hyperbolic paraboloid cable net based on clustering actuation strategies. First, the dynamics and statics for clustered tensegrity structures…
Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…
We experimentally demonstrate a robust dynamical decoupling protocol with bounded controls using long soft pulses, eliminating a challenging requirement of strong control pulses in conventional implementations. This protocol is accomplished…
The controllability problem for nonlinear control systems with one-dimensional control of the form $ dx/dt=a(x)+B(x)\beta(x,u)$ is considered, where $a(x)$ is an $n$-dimensional vector function, $B(x)$ is an $(n\times m)$-matrix, and…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper is concerned with the distributed control and stabilization problems for linear discrete-time large scale systems with imposed constraints. The main contributions of this paper are: Firstly, by using the maximum principle…
The superconducting state in a fully frustrated wire network with the dice lattice geometry is investigated in the vicinity of the transition temperature. Using Abrikosov's variational procedure, we write the Ginzburg-Landau free energy…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
In this paper, we present an Uzawa-based heuristic that is adapted to some type of stochastic optimal control problems. More precisely, we consider dynamical systems that can be divided into small-scale independent subsystems, though linked…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
Finite-time optimal feedback control for flow networks under information constraints is studied. By utilizing the framework of multi-parametric linear programming, it is demonstrated that when cost/constraints can be modeled or approximated…
A decentralized control system with linear dynamics, quadratic cost, and Gaussian disturbances is considered. The system consists of a finite number of subsystems whose dynamics and per-step cost function are coupled through their…
This paper explores the novel concept of damping controller coordination, which aims to minimize the Total Action metric by identifying an optimal switching combination (on/off) of these controllers. The metric is rooted in power system…
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can…
Motion controllability is crucial in video synthesis. However, most previous methods are limited to single control types, and combining them often results in logical conflicts. In this paper, we propose a disentangled and unified framework,…
Underactuated manipulators reduce the number of bulky motors, thereby enabling compact and mechanically robust designs. However, fewer actuators than joints means that the manipulator can only access a specific manifold within the joint…
A suspended fluid film with two free surfaces convects when a sufficiently large voltage is applied across it. We present a linear stability analysis for this system. The forces driving convection are due to the interaction of the applied…