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Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper presents a hierarchical control framework that enables robust quadrupedal locomotion on a dynamic rigid surface (DRS) with general and unknown vertical motions. The key novelty of the framework lies in its higher layer, which is…
The Zero Propellant Maneuver (ZPM) maneuvers the space station by large angle, utilizing the Control Momentum Gyroscopes (CMGs) only. A robust tracking guidance strategy is proposed to enhance its performance. It is distinguished from the…
Radio frequency driven plasma jets are frequently employed as efficient plasma sources for surface modification and other processes at atmospheric pressure. The radio-frequency driven micro atmospheric pressure plasma jet ($\mu$APPJ) is a…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
We present the design, characterization, and experimental results for a new modular robotic system for programmable self-assembly. The proposed system uses the Hybrid Cube Model (HCM), which integrates classical features from both…
In this correspondence, we propose an unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) system, where a full-duplex UAV equipped with uniform planar array (UPA) is adopted as a base station for the multiuser…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
Although research studies in pneumatic soft robots develop rapidly, most pneumatic actuators are still controlled by rigid valves and conventional electronics. The existence of these rigid, electronic components sacrifices the compliance…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
This paper presents a novel micropropulsion system for nanosatellite applications - a liquid fed pulsed-plasma thruster (LF-PPT) comprised of a Lorentz-force pulsed plasma accelerator (PPA) and a low-energy surface flashover (LESF) igniter.…
This study introduces a shared-control approach for collision avoidance in a self-balancing riding ballbot, called PURE, marked by its dynamic stability, omnidirectional movement, and hands-free interface. Integrated with a sensor array and…
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using Disturbance Observer (DOb). It is shown that if the nominal inertia matrix is properly tuned in the…
A novel concept for contactless active removal of large space debris is proposed exploiting the use of a high-speed targeted ion beam. The ion beam shepherd spacecraft (IBS) is equipped with an electric propulsion system generating a…
A Dielectric Barrier Discharge (DBD) plasma actuator for controlling airflow is proposed. It consists of diverging and converging nozzles, two concentric cylinders and an actuator mounted in-between the two cylinders. The actuator employs…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…
The last few decades have led to the rise of research focused on propulsion and control systems for bio-inspired unmanned underwater vehicles (UUVs), which provide more maneuverable alternatives to traditional UUVs in underwater missions.…
Microcombs require ultralow-noise repetition rates to enable next-generation applications in metrology, high-speed communications, microwave photonics, and sensing, where spectral purity is a central performance metric. Best-performing…