Related papers: Underactuated Two Stage CubeSat Control Law
Standard one-way quantum computers (1WQC) combine time symmetric unitary evolution, with asymmetric treatment of boundaries: state preparation allows to enforce a chosen initial state, however, for the final state measurement chooses a…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
Accurate and efficient quantum control in the presence of constraints and decoherence is a requirement and a challenge in quantum information processing. Shortcuts to adiabaticity, originally proposed to speed up slow adiabatic process,…
This manuscript primarily aims to enhance the performance of whole-body controllers(WBC) for underactuated legged locomotion. We introduce a systematic parameter design mechanism for the floating-base feedback control within the WBC. The…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Within the missile guidance and control system the autopilot must overcome an array of variables and uncertainties to maintain tracking trajectory. A large uncertainty explored in this paper is the difference between the assumed flight…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
In this paper, we discuss the compatibility between the rotating-wave and the adiabatic approximations for controlled quantum systems. Although the paper focuses on applications to two-level quantum systems, the main results apply in higher…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
The first part of this paper proposed a family of penalized convex relaxations for solving optimization problems with bilinear matrix inequality (BMI) constraints. In this part, we generalize our approach to a sequential scheme which starts…
A systematic scheme is proposed to numerically estimate the quantum speed limit and temporal shape of optimal control in two-level and three-level quantum systems with bounded amplitude. For the two-level system, two quantum state…
Quantum ensemble systems arise in a variety of applications, including NMR spectroscopy and robust quantum control. While their theoretical properties have been extensively studied, relatively little attention has been given to the explicit…
Wind turbine (WT) controllers are often geared towards maximum power extraction, while suitable operating constraints should be guaranteed such that WT components are protected from failures. Control strategies can be also devised to reduce…
The problem of self-tuning control of cooperative manipulators forming a closed kinematic chain in the presence of an inaccurate kinematics model is addressed using adaptive machine learning. The kinematic parameters pertaining to the…
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide…
In this paper, we consider the feedback stabilization problem for N-level quantum angular momentum systems undergoing continuous-time measurements. By using stochastic and geometric control tools, we provide sufficient conditions on the…
We apply the quantum optimal control theory based on the Krotov method to implement single-qubit $X$ and $Z$ gates and two-qubit CNOT gates for inductively coupled superconducting flux qubits with fixed qubit transition frequencies and…