Related papers: Control and stabilization of geometrically exact b…
An input-output model of a two-level quantum system in the Heisenberg picture is of bilinear form with constant system matrices, which allows the introduction of the concepts of controllability and observability in analogy with those of…
In this paper, we tackle the long-standing challenges of ensemble control analysis and design using a convex-geometric approach in a Hilbert space setting. Specifically, we formulate the control of linear ensemble systems as a convex…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
The equilibrium state of a flexible fiber settling in a viscous fluid is examined using a combination of macroscopic experiments, numerical simulations and scaling arguments. We identify three regimes having different signatures on this…
We consider a series of optimal control problems with 2-dimensional control lying in an arbitrary convex compact set $\Omega$. The considered problems are well studied for the case when $\Omega$ is a unit disc, but barely studied for…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator…
We study the linear stability of elastic collapsible tubes conveying fluid, when the equilibrium configuration of the tube is helical. A particular case of such tubes, commonly encountered in applications, is represented by quarter- or…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
We outline a method for controlling the location of stable and unstable manifolds in the following sense. From a known location of the stable and unstable manifolds in a steady two-dimensional flow, the primary segments of the manifolds are…
A moving boundary problem with two free boundaries modeling a two-dimensional idealized MEMS device with pull-in instability is discussed. We use a fixed point argument to show that the model possesses stationary solutions for small source…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
The robotic manipulation of composite rigid-deformable objects (i.e. those with mixed non-homogeneous stiffness properties) is a challenging problem with clear practical applications that, despite the recent progress in the field, it has…
In this article we present three robust instability mechanisms for linear and nonlinear inverse problems. All of these are based on strong compression properties (in the sense of singular value or entropy number bounds) which we deduce…
We consider the motion of a rigid body due to the pressure of a surrounded two-dimensional irrotational perfect incompressible fluid, the whole system being confined in a bounded domain with an impermeable condition on a part of the…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
This paper addresses, for the first time in the literature, optimal control problems for dynamic systems governed by a novel class of sweeping processes with time delay. We establish well-posedness of such processes, in the sense of the…
We study the stability of circular orbits of the electromagnetic two-body problem in an electromagnetic setting that includes retarded and advanced interactions. We give a method to derive the equations of tangent dynamics about circular…
We report on recent developments in the dynamics and rigidity of infinite-volume homogeneous spaces, viewed through the lens of circles. By addressing four natural questions about circle packings, we highlight the interplay between…