相关论文: Synergistic Potential Functions from Single Modifi…

We propose a general necessary condition for a spin chain with SO(3) spin-rotation symmetry to be gapped. Specifically, we prove that the ground state(s) of an SO(3)-symmetric gapped spin chain must be spin singlet(s), and the expectation…

All interesting and fascinating collective properties of a complex system arise from the intricate way in which its components interact. Various systems in physics, biology, social sciences and engineering have been successfully modelled as…

This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…

This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…

This paper contributes towards the development of motion tracking algorithms for time-critical applications, proposing an infrastructure for solving dynamically the inverse kinematics of highly articulate systems such as humans. We present…

We investigate an aggregation model with intrinsic interactions on the special orthogonal group $SO(3)$. We consider a smooth interaction potential that depends on the squared intrinsic distance, and establish local and global existence of…

Recently, SyncMap pioneered an approach to learn complex structures from sequences as well as adapt to any changes in underlying structures. This is achieved by using only nonlinear dynamical equations inspired by neuron group behaviors,…

Cyclic pursuit frameworks provide an efficient way to create useful global behaviors out of pairwise interactions in a collective of autonomous robots. Earlier work studied cyclic pursuit with a constant bearing (CB) pursuit law, and has…

The Central Pattern Generator (CPG) is adept at generating rhythmic gait patterns characterized by consistent timing and adequate foot clearance. Yet, its open-loop configuration often compromises the system's control performance in…

In this paper, we develop a new method of computing three-point functions in the SU(2) sector of the $\mathcal{N}=4$ super Yang-Mills theory in the semi-classical regime at weak coupling, which closely parallels the strong coupling…

Model merging combines independently trained models into a single multi-task model. However, most existing approaches focus primarily on avoiding task interference. We argue that its greater potential lies in enabling task synergy, where…

In this article, we shall develop and formulate two novel viewpoints and properties concerning the three-point functions at weak coupling in the SU(2) sector of the N = 4 super Yang-Mills theory. One is a double spin-chain formulation of…

This paper presents a novel approach to the problem of almost global attitude stabilization. The reduced attitude is steered along a geodesic path on the n-sphere. Meanwhile, the full attitude is stabilized on SO(n). This action,…

This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic…

In recent years, the analysis of a control barrier function has received considerable attention because it is helpful for the safety-critical control required in many control application problems. While the extension of the analysis to a…

This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates…

This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…

Coupled human balancing tasks are investigated based on both pseudo-neural controllers characterized by time-delayed feedback with random gain and natural human balancing tasks. It is shown numerically that, compared to single balancing…

This paper focuses on the attitude pointing control problem under pointing-forbidden constraints and performance constraints. The spacecraft is expected to align its sensor's boresight to a desired direction, while the terminal control…

This work applies universal adaptive control to control barrier functions to achieve forward invariance of a safe set despite the presence of unmatched parametric uncertainties. The approach combines two ideas. The first is to construct a…