相关论文: Planar Symmetric Juggling of a Devil-Stick
Common experience suggests that attracting invariant sets in nonlinear dynamical systems are generally stable. Contrary to this intuition, we present a dynamical system, a network of pulse-coupled oscillators, in which \textit{unstable…
The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…
Dynamical decoupling is a coherent control technique where the intrinsic and extrinsic couplings of a quantum system are effectively averaged out by application of specially designed driving fields (refocusing pulse sequences). This entails…
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they…
The model we consider consists in a double pendulum set, where the pivot points are free to shift along a horizontal line. Moreover, the two pendula are coupled by means of a spring whose extremities connect two points of each pendulum, at…
In this work, the synchronization problem of a master-slave system of autonomous ordinary differential equations (ODEs) is considered. Here, the systems are, chaotic with a nonlinearity represented by a piecewise linear function,…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
A new class of control problems is discussed - homeostasis control. Homeostasis control problems can be considered as control problems with a given target set, in particular, as a problem of stabilizing the values of some target function,…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
This paper considers time-inconsistent problems when control and stopping strategies are required to be made simultaneously (called stopping control problems by us). We first formulate the timeinconsistent stopping control problems under…
In this paper we consider an optimal control problem governed by a time-dependent variational inequality arising in quasistatic plasticity with linear kinematic hardening. We address certain continuity properties of the forward operator,…
Instead of the conventional construction of symmetric and antisymmetric states by abruptly projecting with the symmetrizer or antisymmetrizer, this paper investigates rapid but continuous symmetrization via environment-induced decoherence.…
For a general nonlinear control system, we study the problem of small time local attainability of a target which is the closure of an open set. When the target is smooth and locally the sublevel set of a smooth function, we develop second…
We discovered that when a pair of small particles is optically levitated, the particles execute a dance whose motion resembles the orbits of balls being juggled. This motion lies in a plane perpendicular to the polarization of the incident…
This paper presents a new approach to distributed controller design that exploits a partial-structure representation of linear time invariant systems to characterize the structure of a system. This partial-structure representation, called…
Symmetries are an essential feature of complex networks as they regulate how the graph collective dynamics organizes into clustered states. We here show how to control network symmetries, and how to enforce patterned states of…
A new strategy for trapping quantum particles is presented, which behaves like an effective harmonic oscillator potential trap wherever is desired. The approach is based on harmonic contraction and expansion of the system around a fixed…
The purpose of this work is to study an optimal control problem for a semilinear elliptic partial differential equation with a linear combination of Dirac measures as a forcing term; the control variable corresponds to the amplitude of such…
Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in…