Related papers: Control Co-design of Actively Controlled Lightweig…
This paper introduces a control co-design (CCD) framework to simultaneously explore the physical parameters and control spaces for a hydro-kinetic turbine (HKT) rotor optimization. The optimization formulation incorporates a coupled…
Natural organisms utilize distributed actuation through their musculoskeletal systems to adapt their gait for traversing diverse terrains or to morph their bodies for varied tasks. A longstanding challenge in robotics is to emulate this…
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
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…
In factory automation, heterogeneous manufacturing processes need to be coordinated over wireless networks to achieve safety and efficiency. These wireless networks, however, are inherently unreliable due to shadow fading induced by the…
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the…
The objective of constrained motion planning is to connect start and goal configurations while satisfying task-specific constraints. Motion planning becomes inefficient or infeasible when the configurations lie in disconnected regions,…
This paper proposes a task-oriented co-design framework that integrates communication, computing, and control to address the key challenges of bandwidth limitations, noise interference, and latency in mission-critical industrial…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
The performance of legged robots depends strongly on both mechanical design and control, motivating co-design approaches that jointly optimize these parameters. However, most existing co-design studies focus on optimizing link dimensions…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Note: This preprint has been superseded by arXiv:1806.04318. Recent advances in nanotechnology have enabled researchers to control individual quantum mechanical objects with unprecedented accuracy, opening the door for both quantum and…
Trusses are load-carrying light-weight structures consisting of bars connected at joints ubiquitously applied in a variety of engineering scenarios. Designing optimal trusses that satisfy functional specifications with a minimal amount of…
This paper examines a co-design problem for industrial networked control systems (NCS) whereby physical systems are controlled over wireless fading channels. In particular, the considered wireless channels are also stochastically dependent…
A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…