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This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
The chattering response at the MRP shadow set switching point for the controlled attitude dynamics of a rigid tumbling spacecraft using delayed state feedback control with MRPs is investigated, where the time delay is assumed to be in the…
Due to the black-box nature of inverters and the wide variation range of operating points, it is challenging to on-line predict and adaptively enhance the stability of inverter-based systems. To solve this problem, this paper provides a…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
We present a systematic treatment of scattering processes for quantum systems whose time evolution is discrete. We define and show some general properties of the scattering operator, in particular the conservation of quasi-energy which is…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
In this paper, a sliding mode controller is designed to synchronize a chaotic fractional-order system. To construct a corrective control input, a saturation function sat(.), with a modified sliding surface is proposed. Finally, Chaos in the…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
Scattering probes the internal structure of quantum systems. We calculate the two-particle elastic scattering phase shift for a short-ranged interaction on a quantum computer. Short-ranged interactions with a large scattering length or…
A group-theoretical approach for studying localized periodic and quasiperiodic vibrations in 2D and 3D lattice dynamical models is developed. This approach is demonstrated for the scalar models on the plane square lattice. The…
Space-time varying media with moving interfaces unlock new ways to manipulate electromagnetic waves. Yet, analytical solutions have been mostly limited to interfaces moving at constant velocity or constant proper acceleration. Here, we…
This work proposes a quaternion-based sliding variable that describes exponentially convergent error dynamics for any forward complete desired attitude trajectory. The proposed sliding variable directly operates on the non-Euclidean space…
The explicit connection between the transition matrix and boundary element method integral operators is formulated. This enables the calculation of characteristic modes via eigenvalue problems involving either set of operators, leading to…
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…
We present the amplitude for classical scattering of gravitationally interacting massive scalars at third post-Minkowskian order. Our approach harnesses powerful tools from the modern amplitudes program such as generalized unitarity and the…
Due to manufacturing defects or wear and tear, industrial components may have uncertainties. In order to evaluate the performance of machined components, it is crucial to quantify the uncertainty of the scattering surface. This brings up an…
This is the first part of four series papers, aiming at the problem of actuator dynamics compensation for linear systems. We consider the stabilization of a type of cascade abstract linear systems which model the actuator dynamics…
A novel switching differentiator that has considerably simple form is proposed. Under the assumption that time-derivatives of the signal are norm-bounded, it is shown that estimation errors are convergent to the zeros asymptotically. The…
Achieving precise and efficient trajectory tracking in robotic arms remains a key challenge due to system uncertainties and chattering effects in conventional sliding mode control (SMC). This paper presents a chattering-free fast terminal…