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In this work we present the first systematic framework to sculpt active nematics systems, using optimal control theory and a hydrodynamic model of active nematics. We demonstrate the use of two different control fields, (1) applied…
Frequency control following a contingency event is of vital concern in power system operations. Leveraging inverter-based resources, it is not hard to shape the center of inertia (COI) frequency nicely. However, under weak grid conditions,…
Uncertainties and errors in magnetic equilibrium reconstructions are a wide-spread problem in interpreting experimental data measured in the tokamak edge. This study demonstrates errors in EFIT++ reconstructions performed on the COMPASS…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
Incremental stability is a property of dynamical systems that ensures the convergence of trajectories with respect to each other rather than a fixed equilibrium point or a fixed trajectory. In this paper, we introduce a related stability…
Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…
This paper presents ConVex optimization-based Stochastic steady-state Tracking Error Minimization (CV-STEM), a new state feedback control framework for a class of Ito stochastic nonlinear systems and Lagrangian systems. Its innovation lies…
Vortex-dominated flows are ubiquitous in engineering, and the ability to efficiently manipulate the dynamics of these vortices has broad applications, from wake shaping to mixing enhancement. However, the strongly nonlinear behavior of the…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
This paper introduces a data-based integral sliding mode control scheme for robustification of model-reference controllers, accommodating generic multivariable linear systems with unknown dynamics and affected by matched disturbances.…
Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be affected by the unknown perturbations including model…
We present a novel methodology to enable control of a neuromorphic circuit in close analogy with the physiological neuromodulation of a single neuron. The methodology is general in that it only relies on a parallel interconnection of…
We study the inverse problem of tuning interaction parameters between charged colloidal particles interacting with a hard-core repulsive Yukawa potential, so that they assemble into specified crystal structures. Here, we target the…
High-power-density tokamaks offer a potential solution to design cost-effective fusion devices. One way to achieve high power density is to operate at a high $\beta$ value (the ratio of thermal to magnetic pressure), i.e., $\beta \sim 1$.…
Advanced tokamak scenarios often feature equilibriums with zero and reversed magnetic shear. To isolate and investigate their impacts on the resistive wall mode (RWM) instability analytically, we construct a series of cylindrical limiter…
This paper addresses two minimum reaching time control problems within the context of finite stable systems. The well-known Variable Structure Control (VSC) and Unity Vector Control (UVC) strategies are analyzed, with the primary objective…
A lumped parameter model for tokamak plasma current and inductance time evolution as function of plasma resistance, non-inductive current drive sources and boundary voltage or poloidal field (PF) coil current drive is presented. The model…
In this brief, the current robust numerical solution to the inverse kinematics based on Levenberg-Marquardt (LM) method is reanalyzed through control theory instead of numerical method. Compared to current works, the robustness of…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…