Related papers: Data-driven Feedback Control of Lattice Structures…

Although digital fabrication processes at the desktop scale have become proficient and prolific, systems aimed at producing larger-scale structures are still typically complex, expensive, and unreliable. In this work, we present an approach…

The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…

We report on a Digital Image Correlation-based technique for the detection of in-plane elastic waves propagating in structural lattices. The experimental characterization of wave motion in lattice structures is currently of great interest…

We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…

We propose a data-driven online convex optimization algorithm for controlling dynamical systems. In particular, the control scheme makes use of an initially measured input-output trajectory and behavioral systems theory which enable it to…

Living things enact control of non-equilibrium, dynamical structures through complex biochemical networks, accomplishing spatiotemporally-orchestrated physiological tasks such as cell division, motility, and embryogenesis. While the exact…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

This paper considers the problem of regulating a linear dynamical system to the solution of a convex optimization problem with an unknown or partially-known cost. We design a data-driven feedback controller - based on gradient flow dynamics…

Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…

Natural organisms can convert environmental stimuli into sensory feedback to regulate their body and realize active adaptivity. However, realizing such a feedback-regulation mechanism in synthetic material systems remains a grand challenge.…

Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…

Data-driven control approaches for the minimization of energy consumption of buildings have the potential to significantly reduce deployment costs and increase uptake of advanced control in this sector. A number of recent approaches based…

The increasing ease of obtaining and processing data together with the growth in system complexity has sparked the interest in moving from conventional model-based control design towards data-driven concepts. Since in many engineering…

We propose an algorithm based on online convex optimization for controlling discrete-time linear dynamical systems. The algorithm is data-driven, i.e., does not require a model of the system, and is able to handle a priori unknown and…

Architected materials can exhibit remarkable combinations of stiffness, strength, and toughness, yet their application is currently limited by an incomplete understanding of how cracks initiate and propagate through their discrete…

Controlling robots that dynamically engage in contact with their environment is a pressing challenge. Whether a legged robot making-and-breaking contact with a floor, or a manipulator grasping objects, contact is everywhere. Unfortunately,…

This paper develops and analyzes feedback-based online optimization methods to regulate the output of a linear time-invariant (LTI) dynamical system to the optimal solution of a time-varying convex optimization problem. The design of the…

This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent closed-loop representation that enables…