相关论文: Invariant-based inverse engineering for fast and r…
By applying invariant-based inverse engineering in the small-oscillations regime, we design the time dependence of the control parameters of an overhead crane (trolley displacement and rope length), to transport a load between two positions…
Adiabaticity is a key concept in physics, but its applications in mechanical and control engineering remain underexplored. Adiabatic invariants ensure robust dynamics under slow changes, but they impose impractical time limitations.…
We design fast trajectories of a trap to transport two ions using a shortcut-to-adiabaticity technique based on invariants. The effects of anharmonicity are analyzed first perturbatively, with an approximate, single relative-motion mode,…
In the present paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type crane system with the time-varying rope length in the desired end position of…
First principle gyrokinetic simulation of the edge turbulent transport in toroidal plasmas finds a reverse trend in the turbulent transport coefficients under strong gradients. It is found that there exist both linear and nonlinear critical…
This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
An experimentally feasible scheme is proposed for rapidly generating two-atom three-dimensional (3D) entanglement with one step. As one technique of shortcuts to adiabaticity, transitionless quantum driving is applied to speed up the…
We propose shortcuts to adiabaticity which achieve fast and stable control of the state of a charged particle in an electromagnetic field. In particular we design a non-adiabatic change of the magnetic field strength in a Penning trap which…
Transport of overdamped Brownian particles in a two-dimensional asymmetric tube is investigated in the presence of nonadiabatic periodic driving forces. By using Brownian dynamics simulations we can find that the phenomena in nonadiabatic…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
We use the dynamical invariants associated with the Hamiltonian of an atom in a one dimensional moving trap to inverse engineer the trap motion and perform fast atomic transport without final vibrational heating. The atom is driven…
Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…
A new way of getting controlled spin dependent transport through a two-terminal bridge setup is explored. The system comprises a magnetic quantum ring which is directly coupled to a magnetic quantum wire and subjected to an in-plane…
The stationary and highly non-stationary resonant dynamics of the harmonically forced pendulum are described in the framework of a semi-inverse procedure combined with the Limiting Phase Trajectory concept. This procedure, implying only…
A method for high-fidelity coherent adiabatic transport in a zig-zag tight-binding chain, based on application of two external periodic driving fields, is theoretically proposed. The method turns out to be robust against imperfections and…
A highly deformable rod, modelled as the extensible elastica, is connected to a movable clamp at one end and to a pin sliding along a frictionless curved profile at the other. Bifurcation analysis shows that axial compliance provides a…
This paper investigates the potential for stabilizing an inverted pendulum without electric devices, using gravitational potential energy. We propose a wheeled mechanism on a slope, specifically, a wheeled double pendulum, whose second…
We design optimal harmonic-trap trajectories to transport cold atoms without final excitation, combining an inverse engineering techniqe based on Lewis-Riesenfeld invariants with optimal control theory. Since actual traps are not really…
We propose a new driving scheme, when different parts of a system are driven with different, generally incommensurate, frequencies. Such driving provides a flexible handle to control various properties of the system and to obtain new types…