Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…
Modular soft robots have shown higher potential in sophisticated tasks than single-module robots. However, the modular structure incurs the complexity of accurate control and necessitates a control strategy specifically for modular robots.…
We develop a physics-informed learning framework for energy-shaping control of port-Hamiltonian (pH) systems from trajectory data. The proposed approach co-learns a pH system model and an optimal energy-balancing passivity-based controller…
The present work address the problem of energy shaping for stochastic port-Hamiltonian system. Energy shaping is a powerful technique that allows to systematically find feedback law to shape the Hamiltonian of a controlled system so that,…
Direct current (DC) network has been recognized as a promising technique, especially for shipboard power systems (SPSs). Fast resilience control is required for an SPS to survive after faults. Towards this end, this paper proposes the…
Tidal currents are renewable and predictable energy sources that could prove fundamental to decrease dependency from fossil fuels. Tidal currents, however, are highly unsteady and non uniform, resulting in undesirable load fluctuations on…
This paper presents a passivity-based control framework for AC-DC converters supplying non-passive Information Technology rack loads in DC data centers. Unlike conventional cascaded proportional-integral controllers that ensure stability…
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that…
Medium voltage direct-current based integrated power system is projected as one of the solutions for powering the all-electric ship. It faces significant challenges for accurately energizing advanced loads, especially the pulsed power load,…
This paper presents a control strategy for sun trackers which adapts continuously to different sources of error, avoiding the necessity of any kind of calibration by analyzing the produced electric power to sense the position of the Sun.…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
Planetary exploration requires traversal in environments with rugged terrains. In addition, Mars rovers and other planetary exploration robots often carry sensitive scientific experiments and components onboard, which must be protected from…
We present a controller for a power electronic system composed of a fuel cell (FC) connected to a boost converter which feeds a resistive load. The controller aims to regulate the output voltage of the converter regardless of the…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Steer-by-Wire (SBW) systems are being adapted widely in semi-autonomous and fully autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties, external…
In this paper, we consider multiple solar-powered wireless nodes which utilize the harvested solar energy to transmit collected data to multiple unmanned aerial vehicles (UAVs) in the uplink. In this context, we jointly design UAV flight…
The coupled attitude and orbit dynamics of solar sails is studied. The shape of the sail is a simplified quasi-rhombic-pyramid that provides the structure helio-stablility properties. After adimensionalisation, the system is put in the form…
Cooperative and Adaptive Cruise Control (CACC) is widely focused to enhance driving fuel-efficiency by maintaining a close following gap. The ecology of CACC could be further enhanced by adapting to the rolling terrain. However, current…