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This paper discusses spacecraft control using variable-speed CMGs. A new operational concept for VSCMGs is proposed. This new concept makes it possible to approximate the complex nonlinear system by a linear time-varying system (LTV). As a…
Exact solutions for symmetric discrete breathers (DBs) are obtained in forced-damped linear chain with on-site vibro-impact constraints. The damping is related to inelastic impacts; the forcing may be chosen from broad class of periodic…
We consider the dynamics of an elastic continuum under large deformation but small strain. Such systems can be described by the equations of geometrically nonlinear elastodynamics in combination with the St. Venant-Kirchhoff material law.…
In this letter, we study the nonlinear stability problem of converter-based power systems, where the converter dynamics are governed by a complex droop control. This complex droop control augments the well-known power-frequency (p-f) droop…
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…
In this paper we present a general framework that allows one to study discretization of certain dynamical systems. This generalizes earlier work on discretization of Lagrangian and Hamiltonian systems on tangent bundles and cotangent…
Dark matter (DM) direct detection experiments which are directionally-sensitive may be the only method of probing the full velocity distribution function (VDF) of the Galactic DM halo. We present an angular basis for the DM VDF which can be…
Integration of distributed energy resources has created a need for autonomous, dynamic voltage regulation. Decentralized Volt-VAr Control (VVC) of grid-connected inverters presents a unique opportunity for voltage management but, if…
This paper presents an analysis and experimental validation of dispatchable virtual oscillator control (dVOC) for inverter-dominated power systems. dVOC is a promising decentralized control strategy that requires only local measurements to…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
A hybrid integrator-gain system (HIGS) is a control element that switches between an integrator and a gain, which overcomes some inherent limitations of linear controllers. In this paper, we consider using discrete-time HIGS controllers for…
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance…
With the increasing interest in proximity and docking operations, there is a growing interest in spacecraft relative motion control. This paper extends a previously proposed constrained relative motion approach based on chained positively…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
We present the identification of the non-linear dynamics of a novel hovercraft design, employing end-to-end deep learning techniques. Our experimental setup consists of a hovercraft propelled by racing drone propellers mounted on a…
This paper examines impulsive controls related to nonautonomous impulsive integro-differential equations in Hilbert space, highlighting their significance. We establish the existence of the mild solution by using fixed point approach and…
In this paper, we present a novel control approach for dynamic virtual power plants (DVPPs). In particular, we consider a group of heterogeneous distributed energy resources (DERs) which collectively provide desired dynamic ancillary…
The series of equilibrium states reached by disordered packings of rigid, frictionless discs in two dimensions, under gradually varying stress, are studied by numerical simulations. Statistical properties of trajectories in configuration…
In this paper we study a distributed optimal control problem for a nonlocal convective Cahn--Hilliard equation with degenerate mobility and singular potential in three dimensions of space. While the cost functional is of standard tracking…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…