相关论文: Reset Control for Vibration Disturbance Rejection
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
We study predictive control in a setting where the dynamics are time-varying and linear, and the costs are time-varying and well-conditioned. At each time step, the controller receives the exact predictions of costs, dynamics, and…
Gear box dynamics is characterised by a periodically changing stiffness and a backlash which can lead to a loss of the contact between the teeth. Due to backlash, the gear system has piecewise linear stiffness characteristics and, in…
This paper presents a model-free adaptive control approach to suppress vibrations in a cantilevered beam excited by an unknown disturbance. The cantilevered beam under harmonic excitation is modeled using a lumped parameter approach. Based…
Interferometry with Heisenberg limited phase resolution may play an important role in the next generation of atomic clocks, gravitational wave detectors, and in quantum information science. For experimental implementations the robustness of…
In multi-qubit superconducting systems utilizing flip-chip technology, achieving high accuracy in resonator frequencies is of paramount importance, particularly when multiple resonators share a common Purcell filter with restricted…
In this paper a new optimum tuning method of PI controllers in first-order time-delay systems, based on the deadbeat response to a step setpoint variation, is presented. The deadbeat performance, already studied for the plants without…
The article is devoted to the investigation of the nonlinear effects in a system of the coupled longitudinal-torsional parametric vibrations of a rotating rod. Constructed and investigated mathematical model, based on which we calculated…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Reconfigurable intelligent surface (RIS) is a new technique that is able to manipulate the wireless environment smartly and has been exploited for assisting the wireless communications, especially at high frequency band. However, it suffers…
Large amplitude vibrations can cause hazards and failure to engineering structures. Active control has been an effective strategy to suppress vibrations, but it faces great challenges in the real-time control of nonlinear flexible…
We study the control of a linear dynamical system with adversarial disturbances (as opposed to statistical noise). The objective we consider is one of regret: we desire an online control procedure that can do nearly as well as that of a…
Limitations of the delayed feedback control and of its extended versions have been fully treated in the literature. The oscillating delayed feedback control appears as a promising scheme to overcome this problem. In this work, two methods…
Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…
Precision motion stages play a critical role in various manufacturing and inspection equipment, for example, the wafer/reticle scanning in photolithography scanners and positioning stages in wafer inspection systems. To meet the growing…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
We recapitulate the notion of phase change rate maximization and demonstrate the usefulness of its solution on analyzing the robust instability of a cyclic network of multi-agent systems subject to a homogenous multiplicative perturbation.…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Power line interference may severely corrupt neural recordings at 50/60 Hz and harmonic frequencies. In this paper, we present a robust and computationally efficient algorithm for removing power line interference from neural recordings. The…