相关论文: Application of control-based continuation to a non…

Control co-design (CCD) is a technique for improving the closed-loop performance of systems through the coordinated design of both plant parameters and an optimal control policy. While model predictive control (MPC) is an attractive control…

A piecewise-linear model with a single degree of freedom is derived from first principles for a driven vertical cantilever beam with a localized mass and symmetric stops. The resulting piecewise-linear dynamical system is smoothed by a…

Control co-design (CCD) explores physical and control design spaces simultaneously to optimize a system's performance. A commonly used CCD framework aims to achieve open-loop optimal control (OLOC) trajectory while optimizing the physical…

Band structure analysis is central to understanding wave propagation in periodic media; however, it becomes challenging in open systems owing to energy leakage. Photonic crystal (PhC) slabs exemplify such systems, featuring periodicity in…

In this paper, a novel partial form dynamic linearization (PFDL) data-driven model-free adaptive predictive control (MFAPC) method is proposed for a class of discrete-time single-input single-output nonlinear systems. The main contributions…

This paper addresses the problem of guaranteeing safety of multiple coordinated agents moving in dynamic environments. It has recently been shown that this problem can be efficiently solved through the notion of Control Barrier Functions…

This paper presents a contact-implicit model predictive control (MPC) framework for the real-time discovery of multi-contact motions, without predefined contact mode sequences or foothold positions. This approach utilizes the…

A theoretical and experimental investigation is presented on the intermodal coupling between the flexural vibration modes of a single clamped-clamped beam. Nonlinear coupling allows an arbitrary flexural mode to be used as a self-detector…

In this paper, two robust model predictive control (MPC) schemes are proposed for tracking control of nonholonomic systems with bounded disturbances: tube-MPC and nominal robust MPC (NRMPC). In tube-MPC, the control signal consists of a…

We investigate application of the nonlinearity management (NM, i.e., periodic variation of the strength of the inter-component repulsion) to the miscibility-immiscibility (MIM) transition across the critical point of a two-component BEC,…

Conventional quantum trajectory theory developed in quantum optics is largely based on the physical unravelling of Lindbald-type master equation, which constitutes the theoretical basis of continuous quantum measurement and feedback…

Optical bound-states in the continuum (BICs) have greatly enriched the field of nonlinear optics with novel ways to control and manipulate light-matter interaction at the nanoscale. This has been made possible by their unique physical…

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm for kinematic control in…

This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…

Quantum systems evolve in time in one of two ways: through the Schr\"odinger equation or wavefunction collapse. So far, deterministic control of quantum many-body systems in the lab has focused on the former, due to the probabilistic nature…

In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…

A methodology for handling block-to-block coupling of nonconforming, multiblock summation-by-parts finite difference methods is proposed. The coupling is based on the construction of projection operators that move a finite difference grid…

A bound state in the continuum (BIC) on a periodic structure sandwiched between two homogeneous media is a guided mode with a frequency and a wavenumber such that propagating plane waves with the same frequency and wavenumber exist in the…

The formation and evolution of coherent structures in a low-energy electron beam produced in a Malmberg-Penning trap is investigated by means of CCD diagnostics. The electrons are emitted from a thermionic cathode and their energy is…

Uncertainties arising in various control systems, such as robots that are subject to unknown disturbances or environmental variations, pose significant challenges for ensuring system safety, such as collision avoidance. At the same time,…