Related papers: The Cubli: Modeling and Nonlinear Control Utilizin…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
A configuration of $n$ unit-cube-shaped \textit{modules} (or \textit{robots}) is a lattice-aligned placement of the $n$ modules so that their union is face-connected. The reconfiguration problem aims at finding a sequence of moves that…
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…
Discrete circular convolution over $\mathbb{Z}/N\mathbb{Z}$ is a linear operator and can be implemented on quantum hardware within the linear-combination-of-unitaries (LCU) framework. In this work, we make this connection explicit through…
We study experimentally a system comprised of linear chains of spin-1/2 nuclei that provides a test-bed for multi-body dynamics and quantum information processing. This system is a paradigm for a new class of quantum information devices…
This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…
Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
We present a balanced truncation model reduction approach for a class of nonlinear systems with time-varying and uncertain inputs. First, our approach brings the nonlinear system into quadratic-bilinear~(QB) form via a process called…
Nonlinear control allocation is an important part of modern nonlinear dynamic inversion based flight control systems which require highly accurate model of aircraft aerodynamics. Generally, an accurately implemented onboard model determines…
We prove the internal controllability of some systems of two coupled wave equations in one space dimension, with one control, under certain conditions on the coupling. To do this we apply the "fictitious control method" in two cases:…
The concept of controlling non-linear systems is one the significant fields in scientific researches for the purpose of which intelligent approaches can provide desirable applicability. Fuzzy systems are systems with ambiguous definition…
Traditional Monte Carlo (MC) Glauber models treat the shapes of deformed nuclei classically; that is, in a collision event, each nucleus is randomly assigned a configuration with fixed deformation parameters and orientation (collective…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
Computing the electric eddy currents in non-linear materials, such as superconductors, is \E{not straightforward}. The design of superconducting magnets and power applications needs electromagnetic computer modeling, being in many cases a…
Quantum control in large dimensional Hilbert spaces is essential for realizing the power of quantum information processing. For closed quantum systems the relevant input/output maps are unitary transformations, and the fundamental challenge…
In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…
Driven by the need to develop efficient atom-photon interfaces, recent efforts have proposed replacing cavities by large arrays of cold atoms that can support subradiant or superradiant collective states. In practice, subradiant states are…
This paper presents a cascaded control architecture, based on nonlinear dynamic inversion (NDI), for rigid body attitude control. The proposed controller works directly with the rotation matrix parameterization, that is, with elements of…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…