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Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
With the ever increasing power rates of wind turbines, more advanced control techniques are needed to facilitate tall towers that are low-weight and cost effective, but in effect more flexible. Such soft-soft tower configurations generally…
In this paper, a dynamic antiwindup compensator design is proposed which augments the main controller and guarantees robust performance in the event of input saturation. This is a two stage process in which first a robust optimal controller…
There are numerous devices currently known with the purpose of reducing the irregularity of the flow upstream of the propeller and to decrease by that means the propeller-induced vibration and noise. Many of these devices are wing-shaped…
We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…
Morphing aerial robots have the potential to transform autonomous flight, enabling navigation through cluttered environments, perching, and seamless transitions between aerial and terrestrial locomotion. Yet mid-flight reconfiguration…
A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions and represents an anti-windup integrator modification for…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
Safe and accurate control of unmanned aerial vehicles in the presence of winds is a challenging control problem due to the hard-to-model and highly stochastic nature of the disturbance forces acting upon the vehicle. To meet performance…
Compared with fixed-wing flight, flapping flight can generate a higher lift and is also more maneuverable, largely resulting from the benefits of wing rotation. By analyzing the real wing kinematics of fruit flies, we found that the wing…
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effects -- as might be experienced in post-stall regimes or…
Turbulence-resolving simulations of wind turbine wakes are presented using a high--order flow solver combined with both a standard and a novel dynamic implicit spectral vanishing viscosity (iSVV and dynamic iSVV) model to account for…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…
We experimentally study the aeroelastic instability boundaries and three-dimensional vortex dynamics of pitching swept wings, with the sweep angle ranging from 0 to 25 degrees. The structural dynamics of the wings are simulated using a…
Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…