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The increasing integration of renewable energy sources has introduced complex dynamic behavior in power systems that challenge the adequacy of traditional continuous-time modeling approaches. These developments call for modeling frameworks…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
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…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
Air transport systems are highly dynamic at temporal scales from minutes to years. This dynamic behavior not only characterizes the evolution of the system but also affect the system's functioning. Understanding the evolutionary mechanisms…
For a general optimal control problem for dynamical systems with hybrid dynamics, we study the dependency of the optimal cost and of the value function on the initial conditions, parameters, and perturbations. We show that upper and lower…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…
The mathematical model of a real flexible elastic system with distributed and discrete parameters is considered. It is a partial differential equation with non-classical boundary conditions. Complexity of the boundary conditions results in…
We consider the problem of controlling an aerial robot connected to the ground by a passive cable or a passive rigid link. We provide a thorough characterization of this nonlinear dynamical robotic system in terms of fundamental properties…
The challenging problems, in the field of control of chaos or of transition to chaos, lie in the domain of infinite-dimensional systems. Access to all variables being impossible in this case and the controlling action being limited to a few…
Gas Transmission Networks are large-scale complex systems, and corresponding design and control problems are challenging. In this paper, we consider the problem of control and management of these systems in crisis situations. We present…
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
In this article, we consider transport networks with uncertain demands. Network dynamics are given by linear hyperbolic partial differential equations and suitable coupling conditions, while demands are incorporated as solutions to…
The methods are proposed for evaluation of complex dynamical systems, choice of their optimal operating modes, determination of optimal operating system from given class of equivalent systems, system's timeline behaviour analysis on the…
Today, complex networks have attracted increasing attention from various fields of science and engineering. It has been demonstrated that many complex networks display various synchronization phenomena. In this paper, we introduce a…
This research presents a dynamic modeling framework and parameter identification methods for describing the highly nonlinear behaviors of flexibly connected dual-AUV systems. The modeling framework is established based on the lumped mass…
In this paper, we investigate a transmission eigenvalue problem that couples the principles of acoustics and elasticity. This problem naturally arises when studying fluid-solid interactions and constructing bubbly-elastic structures to…
This work considers the problem of using multiple aerial carriers to hold a cable-suspended load while remaining in periodic motion at all times. Using a novel differential geometric perspective, it is shown that the problem may be recast…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…