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Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…
This paper introduces a two-level robust approach to estimate the unknown states of a large-scale power system while the measurements and network parameters are subjected to uncertainties. The bounded data uncertainty (BDU) considered in…
In many applications of Structural Engineering the following question arises: given a set of forces $\mathbf{f}_1,\mathbf{f}_2,\dots,\mathbf{f}_N$ applied at prescribed points $\mathbf{x}_1,\mathbf{x}_2,\dots,\mathbf{x}_N$, under what…
Cable subsystems characterized by long, slender, and flexible structural elements are featured in numerous engineering systems. In each of them, interaction between an individual cable and the surrounding fluid is inevitable. Such a…
Aerial transportation robots using suspended cables have emerged as versatile platforms for disaster response and rescue operations. To maximize the capabilities of these systems, robots need to aggressively fly through tightly constrained…
We propose a command-filter backstepping controller that integrates a disturbance observer and a high-gain observer (HGO) to handle unknown internal and external disturbances acting on a quadrotor. To build the controller, we first define…
Due to the limitation of the drone's load capacity, various specific tasks need to be accomplished by multiple drones in collaboration. In some transportation tasks, two drones are required to lift the load together, which brings even more…
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…
The cable-trench problem is defined as a linear combination of the shortest path and the minimum spanning tree problem. In particular, the goal is to find a spanning tree that simultaneously minimizes its total length and the total path…
This article targets at addressing the robust prescribed-time coordination control (PTCC) problems for single-integrator cooperative-antagonistic networks (CANs) with external disturbances under arbitrary fixed signed digraphs without any…
In the framework of a two-band model, we study the phase separation regime of different kinds of strongly correlated charge carriers as a function of the energy splitting between the two sets of bands. The narrow (wide) band simulates the…
This paper investigates the state estimation problem for a class of complex networks, in which the dynamics of each node is subject to Gaussian noise, system uncertainties and nonlinearities. Based on a regularized least-squares approach,…
This paper proposes continuum deformation as a strategy for controlling the collective motion of a multiple quadcopter system (MQS) carrying a common payload. Continuum deformation allows expansion and contraction of inter-agent distances…
In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…
We give a succinct and self-contained description of the synchronized motion on networks of mutually coupled oscillators. Usually, the stability criterion for the stability of synchronized motion is obtained in terms of Lyapunov exponents.…
In this letter, we report the outcome of a spatial energy budget performed for the linear convective instability of the plane incompressible mixing layer within the inviscid framework. We find that, as the critical condition for the onset…
This article introduces a novel paradigm for the unsourced multiple-access communication problem. This divide-and-conquer approach leverages recent advances in compressive sensing and forward error correction to produce a computationally…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…
Achieving high-precision control for robotic systems is hindered by the low-fidelity dynamical model and external disturbances. Especially, the intricate coupling between internal uncertainties and external disturbances further exacerbates…