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Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
A dynamical decoupling method is presented which is based on embedding a deterministic decoupling scheme into a stochastic one. This way it is possible to combine the advantages of both methods and to increase the suppression of undesired…
A methodology is presented for the differential drag control of a large fleet of propulsion-less satellites deployed in the same orbit. The controller places satellites into a constellation with specified angular offsets and zero-relative…
We propose a general procedure for implementing dynamical decoupling without requiring arbitrarily strong, impulsive control actions. This is accomplished by designing continuous decoupling propagators according to Eulerian paths in the…
In this paper, we study some controllability and observability problems for stochastic systems coupling fourth- and second-order parabolic equations. The main goal is to control both equations with only one controller localized on the drift…
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render…
This paper considers a system where one transmitter broadcasts a single common message to two receivers linked by a bidirectional cooperation channel, which is assumed to be orthogonal to the downlink channel. Assuming a simplified setup…
We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Machine learning is now playing important role in robotic object manipulation. In addition, force control is necessary for manipulating various objects to achieve robustness against perturbations of configurations and stiffness. The…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
A controlled quantum dense coding scheme is investigated with a four-particle non-maximal quantum channel. The amount of classical information is shown to be capable of being controlled by the controllers through adjustments of the local…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
High-fidelity control of quantum systems is crucial for quantum information processing, but is often limited by perturbations from the environment and imperfections in the applied control fields. Here, we investigate the combination of…
Scalable quantum information processing requires the ability to tune multi-qubit interactions. This makes the precise manipulation of quantum states particularly difficult for multi-qubit interactions because tunability unavoidably…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
In satellite communications both polarizations of an electromagnetic wave are used to transmit two separate signals. These two independent signals can be merged to form one dual-polarization, four-dimensional signal. The present article…
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Consequently, scholars have proposed architectures with 3 DoF and 4…