Related papers: Robust Optimization, Structure/Control co-design, …
In complex terrain construction environments, there are high demands for robots to achieve both high payload capacity and mobility flexibility. As the key load-bearing component, the optimization of robotic leg structures is of particular…
Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In this first one we present the…
The lack of reliable atomic data can be a severe limitation in astrophysical modelling, in particular of events such as kilonovae that require information on all neutron-capture elements across a wide range of ionization stages. Notably,…
The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…
In this paper, we investigate the worst-case robust beamforming design and resource block (RB) assignment problem for total transmit power minimization of the central controller while guaranteeing each robot's transmission with target…
This paper presents a pressure-robust discretizations, specifically within the context of optimal control problems for the Stokes-Darcy system. The study meticulously revisits the formulation of the divergence constraint and the enforcement…
This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
Flexible spacecraft structures present significant challenges for physical and control system design due to nonlinear dynamics, mission constraints, environmental variables, and changing operational conditions. This paper presents a…
Modern Space Launch Vehicles (SLVs), being slender in shape and due to the use of lightweight materials, are generally flexible in nature. This structural flexibility, when coupled with sensor and actuator dynamics, can adversely affect the…
This paper presents a load control algorithm for control of energy sources and loads to enhance energy sustainability and reliability of the International Space Station (ISS), which is a large spacecraft in orbit around Earth. In this…
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with closed kinematic chains and by the need for a modeling framework…
A model predictive control scheme to stabilize desired configurations of collinear Coulomb spacecraft formations is derived in this paper. The nonlinearities of the dynamics with respect to the input make this problem difficult to solve,…
Task Assignment and Path Finding (TAPF) concerns computing collision-free motions for multiple robots while jointly selecting goal locations. In this paper, safety is enforced by requiring unit-capacity traversal between successive…
As low-thrust space missions increase in prevalence, it is becoming increasingly important to design robust trajectories against unforeseen thruster outages or missed thrust events. Accounting for such events is particularly important in…
This article presents a robust control strategy using Time-Optimal Model Predictive Control (TOMPC) for a two-level quantum system subject to bounded uncertainties. In this method, the control field is optimized over a finite horizon using…
This work addresses the finite-horizon robust covariance control problem for discrete-time, partially observable, linear system affected by random zero mean noise and deterministic but unknown disturbances restricted to lie in what is…
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's mobility without requiring precise contact modeling. However,…