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Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
A new theoretical analysis of the current-charge and charge-charge propagators is presented for the Hubbard model, using the static approximation for the Composite Operator Method. This approximation manifestly preserves a sum rule which…
The objective is to design distributed coordination strategies for a network of agents in a cyber-physical environment. In particular, we concentrate on the rendez-vous of agents having double-integrator dynamics with the addition of a…
In this work, we present a model-based optimal boundary control design for an aerial robotic system composed of a quadrotor carrying a flexible cable. The whole system is modeled by partial differential equations (PDEs) combined with…
Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combinations of knots and multiple interwoven segments. Prior works…
This paper studies a constrained optimization problem over networked systems with an undirected and connected communication topology. The algorithm proposed in this work utilizes singular perturbation, dynamic average consensus, and saddle…
Due to their algorithmic simplicity and high accuracy, force-based model coupling techniques are an exciting development in computational physics. For example, the force-based quasicontinuum approximation is the only known pointwise…
Sliding cable system with frictions is encountered in many engineering applications. Such system is typically characterized by existences of complex and varied motion states of different sliding nodes (pulleys), which leads to significant…
A communication setup is considered where a transmitter wishes to convey a message to a receiver and simultaneously estimates the state of that receiver through a common waveform. The state is estimated at the transmitter by means of…
Accuracy and stability are common requirements for Quadrotor trajectory tracking systems. Designing an accurate and stable tracking controller remains challenging, particularly in unknown and dynamic environments with complex aerodynamic…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
This paper describes a control approach for large-scale electricity networks, with the goal of efficiently coordinating distributed generators to balance unexpected load variations with respect to nominal forecasts. To mitigate the…
In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…
The topic of this manuscript is the stability analysis of continuous-time switched nonlinear systems with constraints on the admissible switching signals. Our particular focus lies in considering signals characterized by upper and lower…
The threshold, or saturation phenomenon of spatially coupled systems is revisited in the light of Lyapunov's theory of dynamical systems. It is shown that an application of Lyapunov's direct method can be used to quantitatively describe the…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
In this paper, we introduce the general concept of coded power control (CPC) in a particular setting of the interference channel. Roughly, the idea of CPC consists in embedding information (about a random state) into the transmit power…
Cascading failure of a power transmission system are initiated by an exogenous event that disable a set of elements (e.g., lines) followed by a sequence of interrelated failures (or more precisely, trips) of overloaded elements caused by…
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$…