Related papers: Quaternion Sliding Variables in Manipulator Contro…
Extended formulations are an important tool in polyhedral combinatorics. Many combinatorial optimization problems require an exponential number of inequalities when modeled as a linear program in the natural space of variables. However, by…
Motion control of underactuated systems through the inverse dynamics contains configuration singularities. These limitations in configuration space mainly stem from the inertial coupling that passive joints/bodies create. In this study, we…
The identification of cells and particles based on their transport properties in microfluidic devices is crucial for numerous applications in biology and medicine. Neutrally buoyant particles transported in microfluidic channels, migrate…
We demonstrate that the rapidity and robustness of slow contraction in homogenizing and flattening the universe found in simulations in which the initial conditions were restricted to non-perturbative variations described by a single…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…
This paper reviews the attitude control problems for rigid-body systems, starting from the attitude representation for rigid body kinematics. Highly redundant rotation matrix defines the attitude orientation globally and uniquely by 9…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…
It is shown that the groups of Euclidian rotations, rigid motions, proper, orthochronous Lorentz transformations, and the complex rigid motions can be represented by the groups of unit-norm elements in the algebras of real, dual, complex,…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouring tasks, it is the typical situation that the involved…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…
The introduction of automated flight control and management systems have made possible aircraft designs that sacrifice arodynamic stability in order to incorporate stealth technology intro their shape, operate more efficiently, and are…
Random tensor models can be used as combinatorial devices to generate Euclidean dynamical triangulations. A physical continuum limit of dynamical triangulations requires a suitable generalization of the double-scaling limit of random…
In the present study an oscillator system formed by a seesaw connected to a simple pendulum coupled to a mobile platform with a certain slope, is analyzed. The observed properties of the system when faced with a possible displacement of the…
A spherical robot consists of an externally spherical rigid body rolling on a two-dimensional surface, actuated by an auxiliary mechanism. For a class of actuation mechanisms, we derive a controller for the geometric center of the sphere to…
We develop theory and software for rotation equivariant operators on scalar and vector fields, with diverse applications in simulation, optimization and machine learning. Rotation equivariance (covariance) means all fields in the system…
We study matrix forms of quaternionic versions of the Fourier Transform and Convolution operations. Quaternions offer a powerful representation unit, however they are related to difficulties in their use that stem foremost from…
We investigate the disordering of an initially phase-segregated binary alloy, due to a highly mobile defect which couples to an electric or gravitational field. Using both mean-field and Monte Carlo methods, we show that the late stages of…