相关论文: The Cubli: Modeling and Nonlinear Control Utilizin…

The Coulomb interactions between electrons play important roles in coupling multiple qubits in various quantum systems. Here we demonstrate controlled quantum operations of three electron charge qubits based on three capacitively coupled…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

Superexchange is one of the vital resources to realize long-range interaction between distant spins for large-scale quantum computing. Recent experiments have demonstrated coherent oscillations between logical states defined by remote spins…

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…

In this paper, we present a novel 3D formation control scheme for directed graphs in a leader-follower configuration, achieving (almost) global convergence to the desired shape. Specifically, we introduce three controlled variables…

Dimensionality reduction represents the process of generating a low dimensional representation of high dimensional data. Motivated by the formation control of mobile agents, we propose a nonlinear dynamical system for dimensionality…

Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…

In this dissertation I analyze Hamiltonian control of $d$-dimensional quantum systems as realized in alkali atomic spins. Alkali atoms provide an ideal platform for studies of quantum control due to the extreme precision with which the…

Splines are one of the main methods of mathematically representing complicated shapes, which have become the primary technique in the fields of Computer Graphics (CG) and Computer-Aided Geometric Design (CAGD) for modeling complex surfaces.…

This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…

In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…

Control is a fundamental concept in quantum and reversible computational models. It enables the conditional application of a transformation to a system, depending on the state of another system. We introduce a general framework for…

In this work we present a whole-body Nonlinear Model Predictive Control approach for Rigid Body Systems subject to contacts. We use a full dynamic system model which also includes explicit contact dynamics. Therefore, contact locations,…

NURBS curve is widely used in Computer Aided Design and Computer Aided Geometric Design. When a single weight approaches infinity, the limit of a NURBS curve tends to the corresponding control point. In this paper, a kind of control…

We consider funnel control for linear infinite-dimensional systems that are impedance passive, meaning that they satisfy an energy balance in which the stored energy equals the squared norm of the state and the supplied power is the inner…

Quantum control is an important logical primitive of quantum computing programs, and an important concept for equational reasoning in quantum graphical calculi. We show that controlled diagrams in the ZXW-calculus admit rich algebraic…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

Experiment shows that dumbbells, placed inside a tilted hollow cylindrical drum that rotates slowly around its axis, climb uphill by forming dynamically stable pairs, seemingly against the pull of gravity. Analysis of this experiment shows…

A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…

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…