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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,…
We study feedback stabilization of continuous-time linear systems under finite data-rate constraints in the presence of unknown disturbances. A communication and control strategy based on sampled and quantized state measurements is…
Sensing via a mechanical frequency shift is a powerful measurement tool, and, therefore, understanding and mitigating frequency noise affecting mechanical resonators is imperative. Thermomechanical noise fundamentally limits mechanical…
The regularity of earthquakes, their destructive power, and the nuisance of ground vibration in urban environments, all motivate designs of defence structures to lessen the impact of seismic and ground vibration waves on buildings. Low…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
With the increasing penetration of converter-interfaced distributed generation systems, it would be advantageous to specify local compliance criteria for these devices to ensure the small-signal stability of the interconnected system.…
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
We have developed an atom interferometer providing a full inertial base. This device uses two counter-propagating cold-atom clouds that are launched in strongly curved parabolic trajectories. Three single Raman beam pairs, pulsed in time,…
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…
Chatter is a self-excited vibration in milling that degrades surface quality and accelerates tool wear. This paper presents an adaptive process controller that suppresses chatter by leveraging machine learning-based online estimation of the…
The AC frequency in electrical power systems is conventionally regulated by synchronous machines. The gradual replacement of these machines by asynchronous renewable-based generation, which provides little or no frequency control, increases…
Classical discrete-time adaptive controllers provide asymptotic stabilization and tracking; neither exponential stabilization nor a bounded noise gain is typically proven. In recent work it has been shown, in both the pole placement…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and…
If a disturbance rocks a low-inertia power system, the frequency decline may be too rapid to arrest before it triggers undesirable responses from generators and loads. In the worst case, this instability could lead to blackout and major…
The integration of radar sensors and communication networks as envisioned for the 6G wireless networks poses significant security risks, e.g., the user position information can be released to an unauthorized dual-functional base station…
In this paper we propose a novel strategy to control optomechanical parametric instability (PI) in gravitational wave (GW) detectors, based on radiation pressure. The fast deflection of a high power beam is the key element of our approach.…
Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…
We propose a new method to measure the system noise temperature, $T_{\rm sys}$, using a 2-bit analog-to-digital converter (ADC). The statistics of the digitized signal in a four-level quantization brings us information about the bias…
We show that dislocations in active 2d smectics with underlying rotational symmetry are always unbound in the presence of noise, meaning the active smectic phase does not exist for non-zero noise in $d=2$. The active smectic phase can, like…