相关论文: "Passive Mechanical Realizations of Bicubic Impeda…

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…

This paper examines impulsive controls related to nonautonomous impulsive integro-differential equations in Hilbert space, highlighting their significance. We establish the existence of the mild solution by using fixed point approach and…

The main objective of this addendum to the mentioned article by Park is to provide some remarks on bifurcation theories for nonlinear partial differential equations (PDE) and their applications to fluid dynamics problems. We only wish to…

Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…

This paper introduces new subdifferential concepts together with their main properties and place with respect to other subdifferential notions.

We present a design framework to induce stable oscillations through mixed feedback control. We provide conditions on the feedback gain and on the balance between positive and negative feedback contributions to guarantee robust oscillations.…

In this paper we will discuss problems and techniques related to underactuated systems. We give a mathematical formulation of several problems arising from applications, review some standard and new techniques, and pose some interesting and…

Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs).…

Harnessing complex body dynamics has been a long-standing challenge in robotics. Soft body dynamics is a typical example of high complexity in interacting with the environment. An increasing number of studies have reported that these…

Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The…

The main aim of this work is to present an explicit construction of a 2-design of ${\rm U}(2)$, relying only on a tool that belongs to every physicists toolbox: the theory of angular momentum. Unitary designs are a rich and fundamental…

Compliant grippers, owing to adaptivity and safety, have attracted considerable attention for unstructured grasping in real applications, such as industrial or logistic scenarios. However, accurately modeling the bidirectional relationship…

It is generally impossible to separately measure the resistance of the functional component (i.e., the intrinsic device materials) and the parasitic component (i.e., terminals, interfaces and serial loads) in a two-terminal device. Yet such…

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…

We outline the concrete steps involved in building prescriptive master integrand bases for scattering amplitudes beyond the planar limit. We highlight the role of contour choices in such bases, and illustrate the full process by…

We present formulation and open-source tools to achieve in-material model predictive control of sensor/actuator systems using learned forward kinematics and on-device computation. Microcontroller units (MCUs) that compute the prediction and…

Joint radar receive filter and waveform design is non-convex, but is individually convex for a fixed receiver filter while optimizing the waveform, and vice versa. Such classes of problems are fre- quently encountered in optimization, and…

We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…

An impulsive feedback-adaptive control is developed in order to drive trajectories of a dynamical system towards an invariant manifold with fixed and spaced impulsive controls. The approach requires the explicit knowledge of the set of…

Roboticists have been seeking to address this situation in recent years through the use of soft robots. Unfortunately, identifying appropriate models for the complete analysis and investigation of soft robots for design and control purposes…