Related papers: Dynamics and control of clustered tensegrity syste…
This paper presents the equilibrium and stiffness study of clustered tensegrity structures (CTS) considering pulley sizes. We first derive the geometric relationship between clustered strings and pulleys, where the nodal vector is chosen as…
This study presents a finite element analysis approach to non-linear and linearized tensegrity dynamics based on the Lagrangian method with nodal coordinate vectors as the generalized coordinates. In this paper, nonlinear tensegrity…
This study presents the design and analysis of deployable cable domes based on the clustered tensegrity structures (CTS). In this paper, the statics and dynamics equations of the CTS are first given. Using a traditional Levy cable dome as…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…
The ability to manipulate and control fluid flows is of great importance in many scientific and engineering applications. Here, a cluster-based control framework is proposed to determine optimal control laws with respect to a cost function…
This paper focuses on developing a new paradigm motivated by investigating the consensus problem of networked Lagrangian systems with time-varying delay and switching topologies. We present adaptive controllers with piecewise continuous or…
A novel unified approach to jointly optimize structural design parameters, actuator and sensor precision and controller parameters is presented in this paper. The joint optimization problem is posed as a covariance control problem, where…
Control of complex turbulent dynamical systems involving strong nonlinearity and high degrees of internal instability is an important topic in practice. Different from traditional methods for controlling individual trajectories, controlling…
This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…
This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using…
For classical discrete system under constant composition, typically reffered to as substitutional alloys, correspondence between interatomic many-body interactions and structure in thermodynamic equilibrium exhibit profound, complicated…
Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive…
This paper discusses the interplay of symmetries and stability in the analysis and control of nonlinear dynamical systems and networks. Specifically, it combines standard results on symmetries and equivariance with recent convergence…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
The equations of Lagrangian gas dynamics fall into the larger class of overdetermined hyperbolic and thermodynamically compatible (HTC) systems of partial differential equations. They satisfy an entropy inequality (second principle of…
This paper proposes a novel Taylor-Lagrange Control (TLC) method for nonlinear control systems to ensure the safety and stability through Taylor's theorem with Lagrange remainder. To achieve this, we expand a safety or stability function…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…