Related papers: Multi-Array Electron Beam Stabilization using Bloc…
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur…
This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…
We consider the framework of convex high dimensional stochastic control problems, in which the controls are aggregated in the cost function. As first contribution, we introduce a modified problem, whose optimal control is under some…
This paper is concerned with uniform stabilization and social optimality for general mean field linear quadratic control systems, where subsystems are coupled via individual dynamics and costs, and the state weight is not assumed with the…
In this paper we propose an approach to approximate a truncated singular value decomposition of a large structured matrix. By first decomposing the matrix into a sum of Kronecker products, our approach can be used to approximate a large…
A fast algorithm for solving the under-determined 3-D linear gravity inverse problem based on the randomized singular value decomposition (RSVD) is developed. The algorithm combines an iteratively reweighted approach for $L_1$-norm…
Singular value decomposition (SVD) is the mathematical basis of principal component analysis (PCA). Together, SVD and PCA are one of the most widely used mathematical formalism/decomposition in machine learning, data mining, pattern…
In this work, we propose an adaptive set-membership constant modulus (SM-CM) algorithm with a generalized sidelobe canceler (GSC) structure for blind beamforming. We develop a stochastic gradient (SG) type algorithm based on the concept of…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
Block diagonalization (BD) is a practical linear precoding technique that eliminates the inter-user interference in downlink multiuser multiple-input multiple-output (MIMO) systems. In this paper, we apply BD to the downlink transmission in…
In this paper, we study the network pinning control problem in the presence of two different types of coupling: (i) node-to-node coupling among the network nodes and (ii) input-to-node coupling from the source node to the `pinned nodes'.…
Advanced control in Lambda ($\Lambda$) scheme of a solid state architecture of artificial atoms and quantized modes would allow the translation to the solid-state realm of a whole class of phenomena from quantum optics, thus exploiting new…
We propose a distributed design method for decentralized control by exploiting the underlying sparsity properties of the problem. Our method is based on chordal decomposition of sparse block matrices and the alternating direction method of…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
We compare two closed-loop beamforming algorithms, one based on singular value decomposition (SVD) and the other based on equal diagonal QR decomposition (QRS). SVD has the advantage of parallelizing the MIMO channel, but each of the…
We present a general framework to study stability of the synchronous solution for a hypernetwork of coupled dynamical systems. We are able to reduce the dimensionality of the problem by using simultaneous block-diagonalization of matrices.…
In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
In this paper, we investigate the optimization problem of joint source and relay beamforming matrices for a twoway amplify-and-forward (AF) multi-input multi-output (MIMO) relay system. The system consisting of two source nodes and two…
The synchrotron light source, a cutting-edge large-scale user facility, requires autonomous synchrotron beamline operations, a crucial technique that should enable experiments to be conducted automatically, reliably, and safely with minimum…