Related papers: Quasi-static shape control of soft, morphing struc…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
In this paper we study the locomotion of a shape-changing body swimming in a two-dimensional perfect fluid of infinite extent. The shape-changes are prescribed as functions of time satisfying constraints ensuring that they result from the…
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, especially in scenarios where direct force sensing is not…
Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to…
The paper is concerned with an optimal control problem governed by the rate-independent system of quasi-static perfect elasto-plasticity. The objective is optimize the displacement field in the domain occupied by the body by means of…
Symmetry properties of the evolution equation and the state to be controlled are shown to determine the basic features of the linear control of unstable orbits. In particular, the selection of control parameters and their minimal number are…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
This paper presents a topology-inspired morphological descriptor for soft continuum robots by combining a pseudo-rigid-body (PRB) model with Morse theory to achieve a quantitative characterization of robot morphologies. By counting critical…
Curvature and mechanics are intimately connected for thin materials, and this coupling between geometry and physical properties is readily seen in folded structures from intestinal villi and pollen grains, to wrinkled membranes and…
We suggest a natural approach that leads to a modification of classical quasispecies models and incorporates the possibility of population extinction in addition to growth. The resulting modified models are called open. Their essential…
The origin of rigidity in disordered materials is an outstanding open problem in statistical physics. Previously, a class of 2D cellular models has been shown to undergo a rigidity transition controlled by a mechanical parameter that…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
In this study, we present a concept of morphing structure -- featuring an arch mounted on a compliant base -- that can be reconfigured via snap-through buckling and leverages bistability to retain its morphed shape. We show that…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…
In this work, we explore how the geometry and topology of the underlying manifold shape the synchronization phase transition of a system. To do so, we extend the Kuramoto-Sakaguchi model from spheres to compact, connected, orientable, and…
We address a linear control system under geometric constraints on control and study its reachable sets starting at zero time from the origin. The main result is the existence of a limit shape of the reachable sets as the terminal time tends…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…