Related papers: Sliding Motions on SO(3), Sliding Subgroups
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. In this work, we consider a well investigated phase field model including contact line…
The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient structure and an orbit space, and the problem of observer…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
In this work we study the existence of solutions to the Mean Curvature Flow for which the initial condition has the structure of a two-dimensional Lie subgroup within a Lie group of dimension three. We consider Lie groups with a fixed…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
See http://www.youtube.com/watch?v=izbGXdjvK_I for a YouTube video showing part of the results in this paper.We will consider surfaces whose mean curvature at a point is a linear function of the square of the distance from that point to the…
This paper presents a new prescribed performance control scheme for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances under mechanical constraints. First, a novel prescribed performance…
Many previous studies of sliding locomotion have assumed that body inertia is negligible. Here we optimize the kinematics of a three-link body for efficient locomotion and include among the kinematic parameters the temporal period of…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
In this paper we discuss the implication of the existence of a sliding symmetry, equivalent to the absence of a shear modulus, on the low-energy theory of the quantum hall smectic (QHS) state. We show, through renormalization group…
We study the efficiency of sliding locomotion for three-link bodies in the presence of dry (Coulomb) friction. Friction coefficient space can be partitioned into several regions, each with distinct types of efficient kinematics. These…
The sliding columnar phase is a new liquid-crystalline phase of matter composed of two-dimensional smectic lattices stacked one on top of the other. This phase is characterized by strong orientational but weak positional correlations…
In this paper, we introduce an observer-free sliding mode control (SMC) method based on explicit structural compensation via the decomposition \( s = \alpha - \beta \). The proposed formulation eliminates the need for state observers and…
Many biological and synthetic systems are suspensions of oriented, actively-moving components. Unlike in passive suspensions, the interplay between orientational order, active flows, and interactions with boundaries gives rise to…
We present a new class of high-order variational integrators on Lie groups. We show that these integrators are symplectic, momentum preserving, and can be constructed to be of arbitrarily high-order, or can be made to converge…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift…
It is shown that the compact Lie group SU(3) admits an Sp(2)Sp(1)-structure whose distinguished 2-forms $\omega_1,\omega_2,\omega_3$ span a differential ideal. This is achieved by first reducing the structure further to a subgroup…