Related papers: Control and stabilization of geometrically exact b…
This manuscript addresses the analysis and design of feedback laws for the stabilization of bilinear control systems in infinite-dimensional spaces. It first examines weak, strong, and polynomial stabilization within a Hilbert space…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
The 2-sets convex feasibility problem aims at finding a point in the intersection of two closed convex sets $A$ and $B$ in a normed space $X$. More generally, we can consider the problem of finding (if possible) two points in $A$ and $B$,…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Elastic instabilities such as buckling and snapping have evolved into a powerful design principle, enabling memory, sequential shape morphing, and computing in metamaterials and devices. Modifying the post-buckling configurations or their…
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…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
This paper addresses the boundary stabilization of a flexible wing model, both in bending and twisting displacements, under unsteady aerodynamic loads, and in presence of a store. The wing dynamics is captured by a distributed parameter…
Location-aided beam alignment has been proposed recently as a potential approach for fast link establishment in millimeter wave (mmWave) massive MIMO (mMIMO) communications. However, due to mobility and other imperfections in the estimation…
We investigate the finite bending and the associated bending instability of an incompressible dielectric slab subject to a combination of applied voltage and axial compression, using nonlinear electro-elasticity theory and its incremental…
The paper is concerned with an optimal control problem governed by the rate-independent system of quasi-static perfect elasto-plasticity. The objective is optimize the displacement field in the domain occupied by the body by means of…
Run-and-tumble particles constitute one of the simplest models of self-propelled active matter, and provide an ideal playground to the understanding of out-of-equilibrium systems. We consider an idealized setup where one such particle is…
A 2-dimensional point-line framework is a collection of points and lines in the plane which are linked by pairwise constraints that fix some angles between pairs of lines and also some point-line and point-point distances. It is rigid if…
We establish the well-posedness of a coupled micro-macro parabolic-elliptic system modeling the interplay between two pressures in a gas-liquid mixture close to equilibrium that is filling a porous media with distributed microstructures.…
An algorithm for detecting periodic orbits in chaotic systems [Phys. Rev. E, 60 (1999), pp.~6172--6175], which combines the set of stabilising transformations proposed by Schmelcher and Diakonos [Phys. Rev. Lett., 78 (1997), pp.~4733--4736]…
Due to the complexity of the human body and its neuromuscular stabilization, it has been challenging to efficiently and accurately predict human motion and capture posture while being driven. Existing simple models of the seated human body…
We consider optimal control problems for partial differential equations where the controls take binary values but vary over the time horizon, they can thus be seen as dynamic switches. The switching patterns may be subject to combinatorial…