Related papers: Extremum Seeking for Controlled Vibrational Stabil…
This paper studies the exponential stabilization on infinite dimensional system with impulse controls, where impulse instants appear periodically. The first main result shows that exponential stabilizability of the control system with a…
Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
We develop an adaptive feedback control technique that combines an extremum-seeking-based command generator (ECG) with indirect adaptive control. In particular, ECG is used to generate commands that asymptotically optimize a cost function…
Modern optimal control theory involves adjoining the already known equations of motion of a dynamic system to the objective function using dynamic costates; this is done in order to constrain the optimal control solutions to satisfy the…
A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
In this paper, we investigate the global robust stabilization of linear time-invariant systems by using event-triggered sliding mode control (SMC). Different from the practical sliding mode band, which is commonly used in previous studies…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
The purpose of this work is to investigate the exponential stability of a second order coupled wave equations by laplacian with one locally internal viscous damping. Firstly, using a unique continuation theorem combined with a Carleman…
Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…
We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the…
In this paper, we prove the exponential stability property of a class of mechanical systems represented in the port-Hamiltonian framework. To this end, we propose a Lyapunov candidate function different from the Hamiltonian of the system.…
Swing equations are an integral part of a large class of power system dynamical models used in rotor angle stability assessment. Despite intensive studies, some fundamental properties of lossy swing equations are still not fully understood.…
In this work a new finite element based Method of Relaxed Streamline Upwinding is proposed to solve hyperbolic conservation laws. Formulation of the proposed scheme is based on relaxation system which replaces hyperbolic conservation laws…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Non-Hermitian systems associated with exceptional points (EPs) are expected to demonstrate a giant response enhancement for various sensors. The widely investigated enhancement mechanism based on diverging from an EP should destroy the EP…
We introduce a new formulation of structural causal models for extremes, called the extremal structural causal model (eSCM). Unlike conventional structural causal models, where randomness is governed by a probability distribution, eSCMs use…
Engineered swift equilibration (ESE) is a class of driving protocols that enforce an equilibrium distribution with respect to external control parameters at the beginning and end of rapid state transformations of open, classical…