相关论文: Toward a High Performance IPMC Soft Actuator using…

We present a barrier method for treating frictional contact on interfaces embedded in finite elements. The barrier treatment has several attractive features, including: (i) it does not introduce any additional degrees of freedom or…

This paper presents a non-intrusive, decentralized approach that stabilizes AC microgrids dominated by inverter-based resources (IBRs). By "non-intrusive" we mean that the approach does not require reprogramming IBRs' controllers to…

We study the Electrical Impedance Tomography Bayesian inverse problem for recovering the conductivity given noisy measurements of the voltage on some boundary surface electrodes. The uncertain conductivity depends linearly on a countable…

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has…

In this paper we present a method to robustify energy-shaping controllers for port-Hamiltonian (pH) systems by adding an integral action that rejects unknown additive disturbances. The proposed controller preserves the pH structure and, by…

Deadbeat Robust Model Predictive Control (DRMPC) is introduced as a new approach of Robust Model Predictive Control (RMPC) for linear systems with additive disturbances. Its main idea is to completely extinguish the effect of the…

A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…

The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…

To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in…

Nonadiabatic ring-polymer molecular dynamics employs the mapping approach to describe nonadiabatic effects within the ring-polymer ansatz. In this paper, it is generalized to allow for the nuclear and electronic degrees of freedom to be…

The beam-ion interaction is a potential limitation of beam performance in electron accelerators, especially where the beam emittance is of a great concern in future ultra-low emittance light source. "Conventionally", the beam instability…

Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitations can compromise both performance and safety. We propose…

Magnetic-responsive composites that consist of soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional…

Passive reaction effects in grasp stability analysis occur when the contact forces and joint torques applied by a grasp change in response to external disturbances applied to the grasped object. For example, nonbackdrivable actuators (e.g.…

Conventional acoustic beamformers typically assume short-time stationarity and process frequency bins independently, ignoring inter-frequency correlations. This is suboptimal for almost-periodic noise sources such as engines, fans, and…

Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

Contraction-Based Nonlinear Model Predictive Control (NMPC) formulations are attractive because of the generally short prediction horizons they require and the needless use of terminal set computation that are commonly necessary to…

Impedance models of power systems are useful when state-space models of apparatus such as inverter-based resources (IBRs) have not been made available and instead only black-box impedance models are available. For tracing the root causes of…

In this work, we address the inverse kinetics problem of motion planning of soft biomimetic actuators driven by three chambers. Soft biomimetic actuators have been applied in many applications owing to their intrinsic softness. Although a…