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Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different…
This paper studies the containment control problem of multi-agent systems with multiple dynamic leaders in both the discrete-time domain and the continuous-time domain. The leaders' motions are described by $(n-1)$-order polynomial…
The paper deals with a problem of control of a system characterized by the fact that the influence of controls on the dynamics of certain functions of state variables (called observables) is relatively weak and the rates of change of these…
Interaction via pulses is common in many natural systems, especially neuronal. In this article we study one of the simplest possible systems with pulse interaction: a phase oscillator with delayed pulsatile feedback. When the oscillator…
Time-optimal control for high-order chain-of-integrator systems with full state constraints remains an open and challenging problem within the discipline of optimal control. The behavior of optimal control in high-order problems lacks…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
The spiking properties of a subcritical Hopf oscillator with a time delayed nonlinear feedback is investigated. Finite time delay is found to significantly affect both the statistics and the fine structure of the spiking behavior. These…
Aerial manipulators, composed of multirotors and robotic arms, have a structure and function highly reminiscent of avian species. This paper studies the tracking control problem for aerial manipulators. This paper studies the tracking…
Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…
This paper focuses on the spacecraft attitude control problem with intermittent actuator activation, taking into account the attitude rotation rate limitation and input saturation issue simultaneously. To address this problem, we first…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…
Bioreactors are widely used in many industries to generate a range of products using various host cells e.g., yeast, insect, and mammalian cells. Depending on the process, product, and host cell, some bioreactors exhibit sustained periodic…
We analyze the rates of noise-induced transitions between period-two attractors. The model investigated is an underdamped oscillator parametrically driven by a field at nearly twice the oscillator eigenfrequency. The activation energy of…
This paper proposes a novel method for the prevention of the unbounded oscillation of an aircraft wings under the flexural torsion flutter. The paper introducing the novel multiagent method for control of an aircraft wing, assuming that the…
When studying the motion of optically trapped particles on the $\mu s$ time scale, in low viscous media such as air, inertia cannot be neglected. Resolution of unusual and interesting behaviour not seen in colloidal trapping experiments is…
We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…
We study the computational problem of rigorously describing the asymptotic behaviour of topological dynamical systems up to a finite but arbitrarily small pre-specified error. More precisely, we consider the limit set of a typical orbit,…
This study presents a novel spatially disrupted flow control system inspired by the covert feathers on bird wings. The system is a passive flow control system consisting of multiple feather-inspired flaps that dynamically interact with the…