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This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
It is well-known that measuring the input voltage and current, as the feedforward and feedback terms, are vital for the controller design in the problem of power factor compensation of an AC-DC boost converter. Traditional adaptive…
In order to improve the stability of synchrotron radiation, we developed a new method of machine learning-based closed orbit feedback and piloted it in the storage ring of the Shanghai Synchrotron Radiation Facility (SSRF). In our…
Steady-state models which have been learned from historical operational data may be unfit for model-based optimization unless correlations in the training data which are introduced by control are accounted for. Using recent results from…
In task-based inverse dynamics control, reference accelerations used to follow a desired plan can be broken down into feedforward and feedback trajectories. The feedback term accounts for tracking errors that are caused from inaccurate…
The coupling of two rotating spherical magnets is investigated experimentally. For two specific angles between the input and output rotation axes, a cogging-free coupling is observed, where the driven magnet is phase-locked to the driving…
We theoretically study the spin-polarized transport through a single-molecule magnet, which is weakly coupled to ferromagnetic leads, by means of the rate-equation approach. We consider both the ferromagnetic and antiferromagnetic…
A new proposal is given to control local magnetic field in a molecular junction. In presence of finite bias a net circular current is established in the molecular ring which induces a magnetic field at its centre. Allowing a direct coupling…
This paper derives closed-form solutions for grid-forming converters with power synchronization control (PSC) by subtly simplifying and factorizing the complex closed-loop models. The solutions can offer clear analytical insights into…
We theoretically study the behavior of the critical current of a thermally-biased tunnel Josephson junction with a particular design, in which the electrodes of the junction are enclosed in two different superconducting loops pierced by…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
A simple model for simulating the current dynamics and the magnetic properties of superconductors is presented. Short simulation times are achieved by solving the differential form of Maxwell's equations inside the sample, whereas…
Current-mode control is one of the most popular controller strategies for power converters. With the advent of wide bandgap devices including GaN and SiC, higher switching frequencies have become more viable at higher power because of lower…
The dynamics of one-way coupled systems with discrete time is considered. The behavior of the coupled logistic maps is compared to the dynamics of maps obtained using the Poincare sectioning procedure applied to the coupled continuous-time…
The problem of designing a flux observer for magnetic field electromechanical systems from noise corrupted measurements of currents and voltages is addressed in this paper. Imposing a constraint on the systems magnetic energy function,…
Fundamental sensor feedback limitations for improving rotor angle stability using local frequency or phase angle measurement are derived. Using a two-machine power system model, it is shown that improved damping of inter-area oscillations…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Electric drives control without shaft sensors has been an active research topic for almost three decades. It consists of estimating the rotor speed and/or position from the currents and voltages measurement. This paper deals with the…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
The engineering space for magnetically manipulated biomedical microrobots is rapidly expanding. This includes synthetic, bioinspired, and biohybrid designs, some of which may eventually assume clinical roles aiding drug delivery or…