Related papers: Quasi-static shape control of soft, morphing struc…
We here describe the possibility of a synthetic description of the onset of Chaos in many degrees of freedom dynamical systems within the framework of the geometric description of dynamics. We show how this approach to instability helps to…
We describe adaptive control algorithms whereby a chaotic dynamical system can be steered to a target state with desired characteristics. A specific implementation considered has the objective of directing the system to a state which is…
A general scheme is proposed and tested to control the symmetry breaking instability of a homogeneous solution of a spatially extended multispecies model, defined on a network. The inherent discreteness of the space makes it possible to act…
Soft robots have drawn significant attention recently for their ability to achieve rich shapes when interacting with complex environments. However, their elasticity and flexibility compared to rigid robots also pose significant challenges…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
We study a shape evolution framework in which the deformation of shapes from time t to t + dt is governed by a regularized anisotropic elasticity model. More precisely, we assume that at each time shapes are infinitesimally deformed from a…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
Topological invariants have proved useful for analyzing emergent function as they characterize a property of the entire system, and are insensitive to local details, disorder, and noise. They support boundary states, which reduce the system…
This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…
A flat plate can bend into a curved surface if it experiences an inhomogeneous growth field. In this article a method is described that numerically determines the optimal growth field giving rise to an arbitrary target shape, optimizing for…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
Higher-form symmetries are a valuable tool for classifying topological phases of matter. However, emergent higher-form symmetries in interacting many-body quantum systems are not typically exact due to the presence of topological defects.…
We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We consider the quasi-static evolution of a brittle layer on a stiff substrate; adhesion between layers is assumed to be elastic. Employing a phase-field approach we obtain the quasi-static evolution as the limit of time-discrete evolutions…
Quasi-integrable Hamiltonian systems are of great interest in many research fields of physics and mathematics. In these systems, the phase space has regular and chaotic trajectories. These trajectories depend in part on the magnitude of…
In recent years, the study of topologically non-trivial structures in one-dimensional models has been dominated by the Su--Schrieffer--Heeger model due to its simplicity in design and its ability to support edge states with robustness to…
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…