Related papers: Chatter reduction in sliding mode tuner controller…
There is great interest in minimizing the impact forces of reluctance actuators during commutations, in order to reduce contact bouncing, acoustic noise and mechanical wear. In this regard, a run-to-run control algorithm is proposed to…
The chattering response at the MRP shadow set switching point for the controlled attitude dynamics of a rigid tumbling spacecraft using delayed state feedback control with MRPs is investigated, where the time delay is assumed to be in the…
This paper proposes a novel optimization framework for discrete phase shifts of a reconfigurable intelligent surface (RIS) using a coherent Ising machine (CIM). Unlike conventional methods based on iterative convex approximation or…
Manipulation tasks often require robots to be continuously in contact with an object. Therefore tactile perception systems need to handle continuous contact data. Shear deformation causes the tactile sensor to output path-dependent readings…
This paper investigates an intelligent reflective surface (IRS) assisted secure multi-user two-way communication system. The aim of this paper is to enhance the physical layer security by optimizing the minimum secrecy-rate among all…
It is well established that not only vision but also other sensory modalities affect drivers' control of their vehicles, and that drivers adapt over time to persistent changes in sensory cues (for example in driving simulators), but the…
Despite extensive studies on motion stabilization of bipeds, they still suffer from the lack of disturbance coping capability on slippery surfaces. In this paper, a novel controller for stabilizing a bipedal motion in its sagittal plane is…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Integrated sensing and communication (ISAC) is anticipated to be widely used in future sub-terahertz (sub-THz) systems. With the line-of-sight (LoS) propagation characteristics of sub-THz channels, ISAC transmitter design largely parallels…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…
Iteration limited model predictive control (MPC) can stabilize a feedback control system under sufficient conditions; this work explores combining a low iteration limit MPC with a high iteration limit MPC for mixed-integer quadratic…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
This paper present a control system for the attitude and low cost design of a Bicopter. The control system uses a PID controller that receives feedback from an IMU to calculate control inputs that adjust the Bicopters attitude (roll, pitch…
Circuits' and in particular DC/DC converters' switching behavior is analyzed in this paper using the equivalent control modeling of the dynamic systems' sliding mode regime. As a representative example and also being one of the most complex…
Slow parameter drift is common in many systems (e.g., the amount of greenhouse gases in the terrestrial atmosphere is increasing). In such situations, the attractor on which the system trajectory lies can be destroyed, and the trajectory…
Spatially selective active noise control (SSANC) hearables aim to attenuate noise from certain directions at the eardrum while preserving desired speech arriving from selected directions. Existing SSANC systems typically assume an accurate…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
The implementation of a tuning fork sensor in a scanning force microscope operational at 300 mK is described and the harmonic oscillator model of the sensor is motivated. These sensors exhibit very high quality factors at low temperatures.…
Inverse optimal control (IOC) allows the retrieval of optimal cost function weights, or behavioral parameters, from human motion. The literature on IOC uses methods that are either based on a slow bilevel process or a fast but…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…