Related papers: Transient analysis of arm locking controller
When a dual-arm robot clamps a rigid object in an environment for human beings, the environment or the collaborating human will impose incidental disturbance on the operated object or the robot arm, leading to clamping failure, damaging the…
At present a 10\,m prototype interferometer facility is being set up at the AEI Hannover. One unique feature of the prototype will be the suspension platform interferometer (SPI). The purpose of the SPI is to monitor and stabilise the…
We demonstrate phase lock of two >1.6W Titanium:sapphire lasers with a phase noise of -138dBc/Hz at 1MHz from the carrier, using an intra-cavity electro-optic phase modulator. The residual phase variance is 2.5 10^(-8)rad^2 integrated from…
In Part I of this paper, we have developed a novel $\mathcal{L}_1$ adaptive control architecture that enables fast adaptation and leads to uniformly bounded transient and asymptotic tracking for system's both signals, input and output,…
Quantum fluctuation of light limits the sensitivity of advanced laser interferometric gravitational-wave detectors. It is one of the principal obstacles on the way towards the next-generation gravitational-wave observatories. The envisioned…
We unveil a powerful method for stabilization of laser injection locking based on sensing variations in the output beam ellipticity of an optically seeded laser. The effect arises due to an interference between the seeding beam and the…
We propose and demonstrate a coherent control scheme for stable phase locking of squeezed vacuum fields. We focus on sideband fields at frequencies from 10Hz to 10kHz which is a frequency regime of particular interest in gravitational wave…
The PI control of first-order linear passive systems through a delayed communication channel is revisited in light of the relative stability concept called sigma-stability. Treating the delayed communication channel as a transport PDE, the…
Lasers with high spectral purity are indispensable for optical clocks and coherent manipulation of atomic and molecular qubits for applications such as quantum computing and quantum simulation. Stabilisation of the laser to a reference can…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
We study the transverse mode instability (TMI) in the limit where a single higher-order mode (HOM) is present. We demonstrate that when the beat length between the fundamental mode and the HOM is small compared to the length scales on which…
The proportional-integral-derivative (PID) controller and its variants are widely used in control engineering, but they often rely on linearization around equilibrium points and empirical parameter tuning, making them ineffective for…
Robotic grasping requires safe force interaction to prevent a grasped object from being damaged or slipping out of the hand. In this vein, this paper proposes an integrated framework for grasping with formal safety guarantees based on…
Three spacecraft of LISA/TAIJI mission follow their respective geodesic trajectories, and their interferometric arms are unequal and time-varying due to orbital dynamics. Time-delay interferometry (TDI) is proposed to suppress the laser…
Optically levitated micro- and nanoparticles are an ideal optomechanical platform for precision measurements, particularly enabling the detection of ultraweak forces. Nevertheless, quantum backaction and inherent instabilities induced by…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
Laser power instability, encompassing random jitter and slow drift, severely limits the performance of optically pumped magnetometers (OPMs) in detecting ultra-weak magnetic fields, especially in large-scale OPM arrays for…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
Laser decoherence limits the stability of optical clocks by broadening the observable resonance linewidths and adding noise during the dead time between clock probes. Correlation spectroscopy avoids these limitations by measuring correlated…