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Rehabilitation exercises are essential to ensure speedy recovery of stroke patients. An automated system to assist the patient in performing a rehabilitation exercise repeatedly is designed. The design process is presented in this report.
This paper presents a fractional-order framework for control of blood pressure. A new perspective is explored to control the blood pressure in lieu of the conventional control framework. A multi-variable scenario is adopted to control two…
Breathing is one of the most important body functions because it provides it with oxygen, which is vital for energy production. In addition, the removal of carbon dioxide actively regulates the acid-base level, which is essential for the…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
The current context of launchers reusability requires the improvement of control algorithms for their liquid-propellant rocket engines. Their transient phases are generally still performed in open loop. In this paper, it is aimed at…
This paper considers the controllability analysis problem for a class of multirotor systems subject to rotor failure/wear. It is shown that classical controllability theories of linear systems are not sufficient to test the controllability…
Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…
Dynamical control of biological systems is often restricted by the practical constraint of unidirectional parameter perturbations. We show that such a restriction introduces surprising complexity to the stability of one-dimensional map…
For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…
In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to…
Stress impacts driving-related cognitive functions like attention and decision-making, and may arise in automated vehicles due to non-driving tasks. Unobtrusive relaxation techniques are needed to regulate stress without distracting from…
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…
Continuous protocols for cardiac magnetic resonance imaging enable sampling of the cardiac anatomy simultaneously resolved into cardiac phases. To avoid respiration artifacts, associated motion during the scan has to be compensated for…
Neural network controllers are currently being proposed for use in many safety-critical tasks. Most analysis methods for neural network control systems assume a fixed control period. In control theory, higher frequency usually improves…
Flutter suppression facilitates the improvement of structural reliability to ensure the flight safety of an aircraft. In this study, we propose a novel strategy for enlarging amplitude death (AD) regime to enhance flutter suppression in two…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Rigorous development processes aim to be effective in developing critical systems, especially if failures can have catastrophic consequences for humans and the environment. Such processes generally rely on formal methods, which can…
In the present work we revisit the existence, stability and dynamical properties of moving discrete breathers in $\beta$-FPU lattices. On the existence side, we propose a numerical procedure, based on a continuation along a sequence of…
Stabilizing multi-steered articulated vehicles in backward motion is a complex task for any human driver. Unless the vehicle is accurately steered, its structurally unstable joint-angle kinematics during reverse maneuvers can cause the…
We study the question of how to aggregate controllers for dynamical systems in order to improve their performance. To this end, we propose a framework of boosting for online control. Our main result is an efficient boosting algorithm that…