Related papers: Model Based Active Slosh Damping Experiment
This paper addresses the management of water flow in a rectangular open channel, considering the dynamic nature of both the channel's bathymetry and the suspended sediment particles caused by entrainment and deposition effects. The…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
We review recent advances in the design, synthesis, and modeling of active fluids. Active fluids have been at the center of many technological innovations and theoretical advances over the past two decades. Research on this new class of…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
Spring Loaded Inverted Pendulum (SLIP) model has a long history in describing running behavior in animals and humans as well as has been used as a design basis for robots capable of dynamic locomotion. Anchoring the SLIP for lossy physical…
This paper proposes a nonlinear, adaptive controller to increase the stability margin of a direct-current (DC) small-scale electrical network containing a constant power load, whose value is unknown. Due to their negative incremental…
The emergence of a submerged vortex upstream of a pump can reduce pump intake efficiency and cause structural damage. In this study, we consider the use of active flow control with steady blowing to increase the pressure distribution within…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
Typical lunar landing missions involve multiple phases of braking to achieve soft-landing. The propulsion system configuration for these missions consists of throttleable engines. This configuration involves complex interconnected…
We present a deep reinforcement learning approach to a classical problem in fluid dynamics, i.e., the reduction of the drag of a bluff body. We cast the problem as a discrete-time control with continuous action space: at each time step, an…
This study presents a deep learning model-based reinforcement learning (DL-MBRL) approach for active control of two-dimensional (2D) wake flow past a square cylinder using antiphase jets. The DL-MBRL framework alternates between interacting…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
This paper introduces a hybrid dynamical system methodology for managing impulsive control in spacecraft rendezvous and proximity operations under the Hill-Clohessy-Wiltshire model. We address the control design problem by isolating the…
Dynamic buckling is addressed for complete elastic spherical shells subject to a rapidly applied step in external pressure. Insights from the perspective of nonlinear dynamics reveal essential mathematical features of the buckling…
We propose a general model-free strategy for feedback control design of turbulent flows. This strategy called 'machine learning control' (MLC) is capable of exploiting nonlinear mechanisms in a systematic unsupervised manner. It relies on…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
The nanometer scale beam sizes at the interaction point in linear colliders limit the allowable motion of the final focus magnets. We have constructed a prototype system to investigate the use of active vibration damping to control magnet…