Related papers: Systematic Analysis of Coupling Effects on Closed-…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling between lift and attitude, resembling…
This study proposes a dynamic coupling-informed trajectory optimization algorithm for free-floating space manipulator systems (SMSs). Dynamic coupling between the base and the manipulator arms plays a critical role in influencing the…
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…
We present a steady jet flow-based flow control of flexible membrane wings for an adaptive and efficient motion of bat-inspired drones in complex flight environments. A body-fitted variational computational aeroelastic framework is adopted…
Dynamical decoupling is a technique aimed at suppressing the interaction between a quantum system and its environment by applying frequent unitary operations on the system alone. In the present paper, we analytically study the dynamical…
In this paper we present a method of discrete modeling and analysis of multi-level dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. In a model each state describes parallel dynamics…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
Aerial robotic systems have raised emerging interests in recent years. In this article, we propose a novel aerial manipulator system that is significantly different from conventional aerial discrete manipulators: An Aerial Continuum…
Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
The modeling of nonlinear dynamics based on Koopman operator theory, which is originally applicable only to autonomous systems with no control, is extended to non-autonomous control system without approximation to input matrix B. Prevailing…
This paper develops computationally efficient data-driven model predictive control (MPC) for Agile quadrotor flight. Agile quadrotors in high-speed flights can experience high levels of aerodynamic effects. Modeling these turbulent…
For a generic dynamical decoupling sequence employing a single-axis control, we study its efficiency in the presence of small errors in direction of the controlling-pulses. In the case that the corresponding ideal dynamical-decoupling…
We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's…
Non-linear model predictive control (nMPC) is a powerful approach to control complex robots (such as humanoids, quadrupeds, or unmanned aerial manipulators (UAMs)) as it brings important advantages over other existing techniques. The…
We show that open-loop dynamical control techniques may be used to synthesize unitary transformations in open quantum systems in such a way that decoherence is perturbatively compensated for to a desired (in principle arbitrarily high)…