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Recently, the synchronization on multi-layer networks has drawn a lot of attention. In this work, we study the stability of the complete synchronization on duplex networks. We investigate effects of coupling function on the complete…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
Teleoperation of low-cost manipulators is attracting increasing attention as a practical means of collecting demonstration data for imitation learning. However, most existing systems rely on unilateral control without force feedback, which…
Bipedal walking is one of the most important hallmarks of human that robots have been trying to mimic for many decades. Although previous control methodologies have achieved robot walking on some terrains, there is a need for a framework…
In this work, we report the enhanced stability of induced synchronization observed through transient uncoupling in a class of unidirectionally coupled identical chaotic systems. The phenomenon of transient uncoupling implies the clipping of…
We present a self-stabilizing algorithm for the (asynchronous) unison problem which achieves an efficient trade-off between time, workload, and space in a weak model. Precisely, our algorithm is defined in the atomic-state model and works…
Large-scale integration of inverter-based resources into power grids worldwide is challenging their stability and security. This paper takes a closer look at synchronous condensers as a solution to mitigate stability challenges caused by…
Clock synchronization is a widely discussed topic in the engineering literature. Ensuring that individual clocks are closely aligned is important in network systems, since the correct timing of various events in a network is usually…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
Symbiotic control synergistically integrates fixed-gain control and adaptive learning architectures to mitigate system uncertainties more predictably than adaptive learning alone and without requiring prior knowledge of uncertainty bounds…
The emergence of synchronization in a network of coupled oscillators is a fascinating topic in various scientific disciplines. A coupled oscillator network is characterized by a population of heterogeneous oscillators and a graph describing…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
This work introduces a methodology for studying synchronization in adaptive networks with heterogeneous plasticity (adaptation) rules. As a paradigmatic model, we consider a network of adaptively coupled phase oscillators with…
The European Proximity Operation Simulator (EPOS) of the DLR-German Aerospace Center is a robotics-based simulator that aims at validating and verifying a satellite docking phase. The generic concept features a robotics tracking system…
The plants of nano air vehicles (NAVs) are generally unstable, adversely coupled, and uncertain. Besides, the autopilot hardware of a NAV has limited sensing and computational capabilities. Hence, these vehicles need a single controller…
Spontaneous symmetry breaking of interacting fermion systems constitutes a major challenge for many-body theory due to the proliferation of new independent scattering channels once absent or degenerate in the symmetric phase. One example is…
In this paper the use of artificial neural network in power system stability is studied. A predictive controller based on two neural networks is designed and tested on a single machine infinite bus system which is used to replace…
Efficient control of power systems is becoming increasingly difficult as they gain in complexity and size. We propose an automatic control strategy that regulates the mechanical power output of the generators in a power grid based on…