Related papers: Robust Linear Quadratic Optimal Control of Cementi…
This paper discusses the possibility of making an object that precisely meets global structural requirements using additive manufacturing and feedback control. An experimental validation is presented by printing a cantilever beam with a…
We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques. We present a framework which allows for system identification through…
The control of granular materials, showing up in many industrial applications, is a challenging open research problem. Granular material systems are complex-behavior (as they could have solid-, fluid-, and gas-like behaviors) and…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
This work presents a stochastic tube-based model predictive control framework that guarantees hard input constraint satisfaction for linear systems subject to unbounded additive disturbances. The approach relies on a structured design of…
This paper develops a flexible and robust robotic system for autonomous drawing on 3D surfaces. The system takes 2D drawing strokes and a 3D target surface (mesh or point clouds) as input. It maps the 2D strokes onto the 3D surface and…
Ruled surface is widely used in engineering design such as parting surface design of injection mold and checking surface design of checking fixture, which are usually generated by offsetting 3D curves. However, in 3D curve offset, there…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
Material extrusion is one of the most commonly used approaches within the additive manufacturing processes available. Despite its popularity and related technical advancements, process reliability and quality assurance remain only partially…
In this paper, a robust linear quadratic optimal control approach for accurate active power tracking of wind turbines is presented. For control synthesis, linear matrix inequalities are employed using an augmented wind turbine state model…
Precisely controlling the shape of the printed-layers, eliminating the curved sides and internal stress concentration, and increasing the mechanical properties are essential to guarantee the quality of 3D printed cement-based structures.…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
We present a novel continuous optimization method to the discrete problem of quadtree optimization. The optimization aims at achieving a quadtree structure with the highest mechanical stiffness, where the edges in the quadtree are…
Roll-to-roll (R2R) printing technologies are promising for high-volume continuous production of substrate-based electronic products. One of the major challenges in R2R flexible electronics printing is achieving tight alignment tolerances,…
Enhancement of the number and array density of nozzles within an inkjet head chip is one of the keys to raise the printing speed and printing resolutions. However, traditional 2D architecture of driving circuits can not meet the requirement…
The linear-quadratic regulator (LQR) is an efficient control method for linear and linearized systems. Typically, LQR is implemented in minimal coordinates (also called generalized or "joint" coordinates). However, other coordinates are…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
In this work, we study the control constrained distributed optimal control of a stationary doubly diffusive flow model. For the control problem, we use a well-posedness analysis based on minimal assumptions on data and domain. We show the…
This paper addresses the optimal control problem known as the Linear Quadratic Regulator in the case when the dynamics are unknown. We propose a multi-stage procedure, called Coarse-ID control, that estimates a model from a few experimental…
Accurate numerical simulation of material extrusion additive manufacturing requires reliable tracking of evolving material interfaces while preserving mass conservation. Inaccurate mass conservation can lead to significant discrepancies…