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We investigate a coherent feedback squeezer that uses quantum coherent feedback (measurement-free) control. Our squeezer is simple, easy to implement, robust to the gain fluctuation, and broadband compared to the existing squeezers because…

The model of a double-well oscillator with nonlinear dissipation is studied. The self-sustained oscillations regime and the excitable one are described. The first regime consists in the coexistence of two stable limit cycles in the phase…

Mechanical interactions between rigid rings and flexible cables find broad application in both daily life (hanging clothes) and engineering systems (closing a tether-net). A reduced-order method for the dynamic analysis of sliding rings on…

The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…

We propose a new model of the oculomotor system, particularly the vestibulo-ocular reflex, gaze fixation, and smooth pursuit. Our key insight is to exploit recent developments on adaptive internal models. The outcome is a simple model that…

Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…

In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…

This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a second-order bending model. The equation of natural frequency…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

The wrapping equilibria of one and two adsorbing cylinders are studied along a semi-flexible filament (polymer) due to the interplay between elastic rigidity and short-range adhesive energy between the cylinder and the filament. We show…

While compliant grippers have become increasingly commonplace in robot manipulation, finding the right stiffness and geometry for grasping the widest variety of objects remains a key challenge. Adjusting both stiffness and gripper geometry…

The mathematical model of a real flexible elastic system with distributed and discrete parameters is considered. It is a partial differential equation with non-classical boundary conditions. Complexity of the boundary conditions results in…

A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…

The theory of plastic bending of single crystal beam having two active slip systems is proposed. Applying the variational-asymptotic method we reduce the energy functional of the beam to the one-dimensional energy functional which admits…

We analyze the interaction of a cold fast electron beam with a thermalized plasma, in the presence of many Langmuir modes. The work aims at characterizing the deviation of the system behavior from the single mode approximation, both with…

The linear instability of a beam tensioned by its own weight is considered. It is shown that for long beams, in the sense of an adequate dimensionless parameter, the characteristics of the instability caused by a follower force do not…

Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…

An electrostatic in-plane overlap varying energy harvester is modeled and simulated using a circuit simulator. Both linear and nonlinear models are investigated. The nonlinear model includes mechanical stoppers at the displacement extremes.…

This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…