Related papers: Passivity-Based Robust Shape Control of a Cable-Dr…
Pronounced variability due to the growth of renewable energy sources, flexible loads, and distributed generation is challenging residential distribution systems. This context, motivates well fast, efficient, and robust reactive power…
Microwave propelled sails are a new class of spacecraft using photon acceleration. It is the only method of interstellar flight that has no physics issues. Laboratory demonstrations of basic features of beam-driven propulsion, flight,…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
The goal of this paper was to take a flat solar panel and make cuts on the panel to make smaller, but still viable solar panels. These smaller solar panels could then be arranged in a tree-like design. The hope was that by having solar…
This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to…
Tool-based scooping is vital in robot-assisted tasks, enabling interaction with objects of varying sizes, shapes, and material states. Recent studies have shown that flexible, reconfigurable soft robotic end-effectors can adapt their shape…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
We consider a system that is exactly controllable. For given initial state, terminal state and objective function, an optimal control is often well-defined. Such an optimal control has the disadvantage that although it works perfectly well…
Passive solar desalination is an emerging low-cost technology for fresh water production. State of the art desalinators typically evaporate water using wicking structures to achieve high solar-to-vapor efficiency by minimizing heat loss.…
This paper proposes a novel approach to estimate the steady-state angle stability limit (SSASL) by using the nonlinear power system dynamic model in the modal space. Through two linear changes of coordinates and a simplification introduced…
The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
Cable-driven continuum robots (CDCRs) require accurate, real-time dynamic models for high-speed dynamics prediction or model-based control, making such capability an urgent need. In this paper, we propose the Lightweight Actuation-Space…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
This paper presents a combined power system with a common dc bus that contains solar power, wind power, battery storage, and a constant dc load (CDL). In wind system, an AC-DC uncontrolled rectifier is used at the first stage and the DC-DC…
Portable active back support devices (BSDs) offer tunable assistance but are often bulky and heavy, limiting their usability. In contrast, passive BSDs are lightweight and compact but lack the ability to adapt their assistance to different…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
In this article, we propose a passive method to control unsteady cloud cavitation on hydrofoils using cavitation-bubble generator (CGs). This method may be used in many engineering applications, in particular in marine and turbomachinery.…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
This paper is focused on the dynamics and control of arbitrary number of quadrotor UAVs transporting a rigid body payload. The rigid body payload is connected to quadrotors via flexible cables where each flexible cable is modeled as a…