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In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
The application of the exact renormalisation group to symmetric as well as asymmetric many-fermion systems with a short-range attractive force is studied. Assuming an ansatz for the effective action with effective bosons, describing pairing…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
To obtain precise motion control of wafer stages, an adaptive neural network and fractional-order super-twisting control strategy is proposed. Based on sliding mode control (SMC), the proposed controller aims to address two challenges in…
Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
In weakly nonlinear systems, the main effect of cubic nonlinearity on wave propagation is an amplitude-dependent correction of the dispersion relation. This phenomenon can manifest either as a frequency shift or as a wavenumber shift…
We generalize a method of control of chaos which uses delayed feedback at the period of an unstable orbit to stabilize that orbit. The generalization consists of substituting some portion of the nonlinear dynamical system with a delayed…
Modern neural language models achieve high accuracy in text generation, yet precise control over generation length remains underdeveloped. In this paper, we first investigate a recent length control method based on Reverse Positional…
This paper presents a technique for designing output feedback controllers for constrained linear parameter-varying systems that are subject to persistent disturbances. Specifically, we develop an incremental parameter-varying output…
This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…
This paper addresses the problem of obtaining low-order models of fluid flows for the purpose of designing robust feedback controllers. This is challenging since whilst many flows are governed by a set of nonlinear, partial…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…
A many-mode laser with nonlinear modal interaction could serve as a model system to study many-body physics. However, precise and continuous tuning of the interaction strength over a wide range is challenging. Here, we present a unique…
Nonlinear effects are the root of interesting phenomena such as masers and lasers, and play a significant role in science and engineering. In spin systems, nonlinear spin dynamics is crucial for the prediction of complex dynamical behavior…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
Local detailed balance (LDB) is a central guiding principle for modeling nonequilibrium stochastic dynamics, yet it only constrains the ratio of forward and backward transition rates and does not fix the steady state. Although the…
Backstepping is a mature and powerful Lyapunov-based design approach for a specific set of systems. Throughout the development over three decades, innovative theories and practices have extended backstepping to stabilization and tracking…