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In the spirit of multi-scale modeling, we develop a theoretical framework for spin-lattice coupling that connects, on the one hand, to ab initio calculations of spin-lattice coupling parameters and, on the other hand, to the magneto-elastic…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
We consider the system constituted by a hollow rigid body whose cavity contains a homogeneous rigid ball, and let the gap between the solids be entirely filled by a viscous incompressible fluid. We investigate the free rotations of the…
We study the relaxation of the bi-dimensional kinetically constrained spiral model. We show that due to the reversibility of the dynamic rules any unblocked state fully decorrelates in finite times irrespectively of the system being in the…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
We consider non-relativistic systems in quantum mechanics interacting through the Coulomb potential, and discuss the existence of bound states which are stable against spontaneous dissociation into smaller atoms or ions. We review the…
This paper details the implementation of a two stage underactuated control law for a CubeSat to reduce all angular rates to zero. This CubeSat has a diagonal inertia matrix where the principal axes of inertia are not equal. This is needed…
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…
The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…
We present a new method for the control of waves based on inverse multiple scattering theory. Conceived as a generalization of the concept of metagrating, we call metaclusters to a finite set of scatterers whose position and properties are…
This paper proposes a Lyapunov based approach to control the rotation of a flat disk spinning in the space without external forces. The motion of the disk is governed by the Euler's rotation equation for spinning objects. The control is…
The spin inertia measurement is a recently emerged tool to study slow spin dynamics, which is based on the excitation of the system by a train of circularly polarized pulses with alternating helicity. Motivated by the experimental results…
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler angles during large-angle rotations. Our method parameterizes…
In this paper, we study the dynamical behavior of a linear control system on $\R^2$ when the associated matrix has real eigenvalues. Different from the complex case, we show that the position of the control zero relative to the control…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…