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Routing mechanisms for stochastic networks are often designed to produce state space collapse (SSC) in a heavy-traffic limit, i.e., to confine the limiting process to a lower-dimensional subset of its full state space. In a fluid limit, a…
This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner.…
In this paper, we present a principled method to model general planar sliding motion with distributed convex contact patch. The effect of contact patch with indeterminate pressure distribution can be equivalently modeled as the contact…
A new scattering approach for correlated one-dimensional systems is developed. The adiabatic contact to charge reservoirs is encoded in time-dependent boundary conditions. The conductance matrix for an arbitrary gated wire, respecting…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
We calculate at two-loop order the complex-valued scattering amplitude related to the twice-iterated scalar-isovector boson-exchange between nucleons. In comparison to the once-iterated boson-exchange amplitude it shows less dependence on…
Depending on the frequency range of interest, finite element-based modeling of acoustic problems leads to dynamical systems with very high dimensional state spaces. As these models can mostly be described with second order linear dynamical…
This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate…
We derive a class of cellular automata for the Schr\"odinger Hamiltonian, including scalar and vector potentials. It is based on a multi-split of the Hamiltonian, resulting in a multi-step unitary evolution operator in discrete time and…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
Recent spacecraft mission concepts propose larger payloads that have lighter, less rigid structures. For large lightweight structures, the natural frequencies of their vibration modes may fall within the attitude controller bandwidth,…
In this paper, mechanical models with Newton's Law of impacts are studied. One of the most interesting properties in some of these models is chattering. This phenomenon is understood as the appearance of an infinite number of impacts…
The integrand-level methods for the reduction of scattering amplitudes are well-established techniques, which have already proven their effectiveness in several applications at one-loop. In addition to the automation and refinement of tools…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…
Previous results have shown that a large class of complex systems consisting of many interacting heterogeneous phase oscillators exhibit an attracting invariant manifold. This result has enabled reduced analytic system descriptions from…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
In this paper we present an influence of discontinuous coupling on the dynamics of multistable systems. Our model consists of two periodically forced oscillators that can interact via soft impacts. The controlling parameters are the…
In this extended abstract, we propose a tuning approach for nonlinear mechanical systems to modify the behavior of the closed-loop system, where we are particularly interested in attenuating oscillations from the transient response. Towards…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…