Related papers: Linear Fractional Transformation modeling of multi…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Linear, time-varying (LTV) systems composed of time shifts, frequency shifts, and complex amplitude scalings are operators that act on continuous finite-energy waveforms. This paper presents a novel, resource-efficient method for…
Data-driven approaches coupled with physical knowledge are powerful techniques to model systems. The goal of such models is to efficiently solve for the underlying field by combining measurements with known physical laws. As many systems…
This paper presents a novel theoretical framework for reducing the computational complexity of multi-model adaptive control/estimation systems through systematic transformation to controllable canonical form. While traditional multi-model…
We present an approach to identify a quasi Linear Parameter Varying (qLPV) model of a plant, with the qLPV model guaranteed to admit a robust control invariant (RCI) set. It builds upon the concurrent synthesis framework presented in [1],…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
Many-body localization (MBL), characterized by the absence of thermalization and the violation of conventional thermodynamics, has elicited much interest both as a fundamental physical phenomenon and for practical applications in quantum…
We further develop a thermal LB model for multiphase flows. In the improved model, we propose to use the FFT scheme to calculate both the convection term and external force term. The usage of FFT scheme is detailed and analyzed. By using…
Obtaining models that can be used for control is of utmost importance to ensure the guidance and navigation of spacecraft, like a Generic Parafoil Return Vehicle (GPRV). In this paper, we convert a nonlinear model of the atmospheric flight…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
In this work, we present the novel mathematical framework of latent dynamics models (LDMs) for reduced order modeling of parameterized nonlinear time-dependent PDEs. Our framework casts this latter task as a nonlinear dimensionality…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the…
In this paper, we establish a unified framework for subspace identification (SID) of linear parameter-varying (LPV) systems to estimate LPV state-space (SS) models in innovation form. This framework enables us to derive novel LPV SID…
In several model-based system maintenance problems, parameters are used to represent unknown characteristics of a component, equipment degradation, etc. This allows for modelling constant, slow-varying terms. The identifiability of these…
The derivation of a linear fractional representation (LFR) model for a flexible, spinning and uniform Euler-Bernoulli beam is accomplished using the {Lagrange} technique, fully capturing the centrifugal force generated by the spinning…
Multi-legged robots (MLRs) are vulnerable to leg damage during complex missions, which can impair their performance. This paper presents a self-modeling and damage identification algorithm that enables autonomous adaptation to partial or…
We present a new method to calculate formation of cosmological structure in the Newtonian limit. The method is based on Lagrangian perturbation theory plus two key theoretical extensions. One advance involves identifying and fixing a…
A new kind of the relativistic three-body equations for the three fermion systems are suggested. These equations are derived in the framework of the standard field-theoretical $S$-matrix approach in the time-ordered three dimensional form.…