Related papers: Hidden attractors in aircraft control systems with…
The inherent instability of oscillatory flows presents a significant challenge in microfluidics, impairing performance in different applications from particle detachemnt to organs-on-a-chip. Trapped air inside a microfluidic system…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…
New results on the behaviour of the fast motion in slow-fast systems of ODEs with dependence on the fast time are given in terms of tracking of nonautonomous attractors. Under quite general assumptions, including the uniform ultimate…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Mitigation of load fluctuations due to flow unsteadiness is critical in a broad range of applications, including wind/tidal turbines, and aerial/underwater vehicles. While the use of active control systems is an established practice in…
This paper presents a comprehensive numerical investigation of a NACA0012 undergoing Stall Flutter Limit Cycle Oscillations (LCO) across distinct fluid dynamics regimes. It accurately models Small Amplitude Oscillations (SAO) in the…
Many optimal control problems exhibit a peculiar behavior that is not completely understood, the Fuller Phenomenon. In a naive way, this phenomenon can be described as the accumulation of discontinuities in the control function. In this…
We present and analyze the first example of a dynamical system that naturally exhibits attracting periodic orbits that are \textit{unstable}. These unstable attractors occur in networks of pulse-coupled oscillators where they prevail for…
The oscillatory dynamics of natural and man-made systems can be disrupted by their time-varying interactions, leading to oscillation quenching phenomena in which the oscillations are suppressed. We introduce a framework for analyzing,…
The problem of damping a system of linear oscillators is considered. The problem is solved by using a control in the form of dry friction. The motion of the system under the control is governed by a system of differential equations with…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
Tiltrotors are an aircraft concept with the ability to rotate their rotors freely, achieving vertical take-off and fast forward flight. The combination of helicopter and fixed-wing flight into one aircraft provides versatility in mission…
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…
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine…
The control of network-coupled nonlinear dynamical systems is an active area of research in the nonlinear science community. Coupled oscillator networks represent a particularly important family of nonlinear systems, with applications…
Spatially distributed limited-cycle oscillators are seen in various physical and biological systems. In internal organs, mechanical motions are induced by the stimuli of spatially distributed limit-cycle oscillators. We study several…
We explore theoretically the complex dynamics and emergent behaviors of spinning spheres immersed in viscous fluid. The particles are coupled to each-other via the fluid in which they are suspended: each particle disturbs the surrounding…
This paper focuses on developing a strategy for control of systems whose dynamics are almost entirely unknown. This situation arises naturally in a scenario where a system undergoes a critical failure. In that case, it is imperative to…