相关论文: Application of control-based continuation to a non…
This study proposes an adaptive subsystem-based control (SBC) for systematic and straightforward nonlinear~control of nth-order strict-feedback form (SFF) systems.~By decomposing the SFF system to subsystems, a generic~term (namely…
In this letter we propose a holistic analysis merging the techniques of passivity-based control (PBC) and control barrier functions (CBF). We constructively find conditions under which passivity of the closed-loop system is preserved under…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…
This paper presents a framework to perform bifurcation analysis in laboratory experiments or simulations. We employ control-based continuation to study the dynamics of a macroscopic variable of a microscopically defined model, exploring the…
We consider a general quantum system interacting with a bath and derive a master equation in the Lindblad form describing the evolution of the whole quantum system subjected to a measurement-based direct quantum feedback control (MDFC). As…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
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…
Control Barrier Functions (CBFs) provide a powerful framework for ensuring safety in dynamical systems. However, their application typically relies on full state information, which is often violated in real-world due to the availability of…
This paper proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new…
Precision motion stages are an essential part of a wide range of manufacturing equipment, and their motion performance are critical to the quality and throughput of the systems. The drastically increasing demand for higher manufacturing…
This paper presents a new approach for guaranteed safety subject to input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). First, we present a method for constructing a single CBF from…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
A novel mathematical model for fiber-reinforced materials is proposed. It is based on a 1-dimensional beam model for the thin fiber structures, a flexible and general 3-dimensional elasticity model for the matrix and an overlapping domain…
We develop a theory of continuous decoupling with bounded controls from a geometric perspective. Continuous decoupling with bounded controls can accomplish the same decoupling effect as the bang-bang control while using realistic control…
Existing smart composite piezoelectric beam models in the literature mostly ignore the electro-magnetic interactions and adopt the linear elasticity theory. However, these interactions substantially change the controllability and…
The nonlinear dynamics of a microbeam-rigid body gyroscope are investigated by using a continuation method. To study the nonlinear dynamics of the system, the Lagrangian of the system is discretized and the reduced-order model is obtained.…
The existence of a Control Barrier Function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are…