Related papers: Hybrid Tunable Magnet Actuator: Modeling and Desig…
Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…
A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide…
Magnetic soft robots have attracted growing interest due to their unique advantages in terms of untethered actuation and excellent controllability. However, finding the required magnetization patterns or magnetic fields to achieve the…
Generating high-fidelity, tunable entanglement between qubits is crucial for realizing gate-based quantum computation. In superconducting circuits, tunable interactions are often implemented using flux-tunable qubits or coupling elements,…
We investigate time-adaptive Magnus-type integrators for the numerical approximation of a Mott transistor. The rapidly attenuating electromagnetic field calls for adaptive choice of the time steps. As a basis for step selection,…
Using memristive properties common for the titanium dioxide thin film devices, we designed a simple write algorithm to tune device conductance at a specific bias point to 1% relative accuracy (which is roughly equivalent to 7-bit precision)…
Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…
Magnetisation of superconductors are often measured under isothermal and uniform magnetic fields. Magnetisation measurements in an unrestricted thermodynamic state and in non uniform magnetic fields naturally emerge from permanent magnets…
Reducing Noise, Vibration, and Harshness (NVH) in electric drives is crucial for applications such as electric vehicle drivetrains and heat-pump compressors, where strict NVH requirements directly affect user satisfaction and component…
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…
Transformers achieve state-of-the-art accuracy and robustness across many tasks, but an understanding of their inductive biases and how those biases differ from other neural network architectures remains elusive. In this work, we identify…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault…
This paper presents modeling of a compliant 2D manipulator, a so called soft hydraulic/fluidic elastomer actuator. Our focus is on fiber-Reinforced Fluidic Elastomer Actuators (RFEA) driven by a constant pressure hydraulic supply and…
This paper presents a novel digital control strategy successfully implemented for a soft magnetic material characterization bench (Epstein frame type). The main objective is to control the magnetic induction waveform whatever the applied…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
In the last decades, the applications of power inverter increased rapidly. As a result, in spite of rectifier, an inverter with a high-power electronic oscillator has capability to convert direct current (DC) into alternating current (AC)…
This paper discusses nonlinear proportional-integral (PI) current control with anti-windup of reluctance synchronous machines (RSMs) for which the flux linkage maps are known. The nonlinear controller design is based on the tuning rule…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…