Related papers: Singularity-Free Inverse Dynamics for Underactuate…
The interaction between singular and regular fields is considered for Lorentz-invariant scalar and vector wave equations. The singular field is generated by a Dirac source term. Its dynamics are deduced from the total field Lagrangian. At…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
We analyze the dynamical generation of entanglement in systems of two interacting spins initially prepared in a product of spin coherent states. For arbitrary time-independent Hamiltonians, we derive a semiclassical expression for the…
The normal form and zero dynamics are powerful tools useful in analysis and control of both linear and nonlinear systems. There are no simple closed form solutions to the general zero dynamics problem for nonlinear systems. A few algorithms…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
It is proposed how to impose a general type of ''noncommutativity'' within classical mechanics from first principles. Formulation is performed in completely alternative way, i.e. without any resort to fuzzy and/or star product philosophy,…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
The origin of equilibrium gravitational configurations is sought in terms of the stability of their trajectories, as described by the curvature of their Lagrangian configuration manifold of particle positions --- a context in which subtle…
Robotics is shifting from rigid, articulated systems to more sophisticated and heterogeneous mechanical structures. Soft robots, for example, have continuously deformable elements capable of large deformations. The flourishing of control…
A novel non-reactive thrust principle based on controlling the angular momentum of a material body is proposed. Theoretically, it is shown that asymmetric emission/absorption of low-energy particle fluxes with spin in a direction…
We design realizable time-dependent semiclassical pulses to invert the population of a two-level system faster than adiabatically when the rotating-wave approximation cannot be applied. Different approaches, based on the counterdiabatic…
With the increase in complexity of robotic systems and the rise in non-expert users, it can be assumed that task constraints are not explicitly known. In tasks where avoiding singularity is critical to its success, this paper provides an…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
The nonlinear dynamics of many under-actuated wheeled platforms are governed by nonholonomic constraints of no-skid for passively rolling wheels, coupled with momentum balance. In most of theoretical models, the shape variables, i.e. joint…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
In several domains of physics, including first principle simulations and classical models for polarizable systems, the minimization of an energy function with respect to a set of auxiliary variables must be performed to define the dynamics…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…