相关论文: Toward a High Performance IPMC Soft Actuator using…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…
Linear Model Predictive Control (MPC) has been successfully used for generating feasible walking motions for humanoid robots. However, the effect of uncertainties on constraints satisfaction has only been studied using Robust MPC (RMPC)…
This article presents a closed-form adaptive controlbarrier-function (CBF) approach for satisfying state constraints in systems with parametric uncertainty. This approach uses a sampled-data recursive-least-squares algorithm to estimate the…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
Damping mechanical resonances is a formidable challenge in an increasing number of applications. Many of the passive damping methods rely on using low stiffness dissipative elements, complex mechanical structures or electrical systems,…
As the economic and environmental costs of training and deploying large vision or language models increase dramatically, analog in-memory computing (AIMC) emerges as a promising energy-efficient solution. However, the training perspective,…
The static density response of the uniform electron gas is of fundamental importance for numerous applications. Here, we employ the recently developed \textit{ab initio} permutation blocking path integral Monte Carlo (PB-PIMC) technique…
The increasing penetration of inverter-based resources (IBRs) has fundamentally altered the transient stability characteristics of modern power systems. IBRs typically rely on proportional--integral (PI) controllers for synchronization and…
Vibration suppression is an important capability for collaborative robots deployed in challenging environments such as construction sites. We study the active suppression of vibration caused by external sources such as power tools. We adopt…
Integrated Sensing and Communication (ISAC) emerges as a promising technology for B5G/6G, particularly in the millimeter-wave (mmWave) band. However, the widespread adoption of hybrid architecture in mmWave systems compromises multiplexing…
Practical applications of controllers often impose further requirements on the implementation beyond the actual control performance, such as the ability to switch between manual and automatic control or between different control laws or…
We extend the ILC method in harmonic space to include the error in its CMB estimate. This allows parameter estimation routines to take into account the effect of the foregrounds as well as the errors in their subtraction in conjunction with…
In this paper, we present a method of applying integral action to enhance the robustness of energy shaping controllers for underactuated mechanical systems with matched disturbances. Previous works on this problem have required a number of…
Correlation functions are a standard tool for analyzing statistical particle trajectories. Recently, a so called mean back relaxation (MBR) has been introduced, which correlates positions at three time points. The deviation of its long time…
This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the…
Model Predictive Control (MPC) is a popular control approach due to its ability to consider constraints, including input and state restrictions, while minimizing a cost function. However, in practice, these constraints can result in…
A non-perturbative method is introduced to measure the particle-particle interaction strengths and in-situ confinement for a vertically aligned dust particle pair in a complex plasma. The intrinsic thermal motion of each particle is…
The current designs of future electron-positron linear colliders incorporate large and complex damping rings to produce asymmetric beams for beamstrahlung suppression. Here we present the design of an electron injector capable of delivering…
Model Predictive Control (MPC) for tracking formulation presents numerous advantages compared to standard MPC, such as a larger domain of attraction and recursive feasibility even when abrupt changes in the reference are produced. As a…