相关论文: Flatness-based motion planning for a non-uniform m…
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to imperfect sensing and state estimation drift and noise. In…
A finite element based computational scheme is developed and employed to assess a duality based variational approach to the solution of the linear heat and transport PDE in one space dimension and time, and the nonlinear system of ODEs of…
Recent equations of motion for the large deflections of a cantilevered elastic beam are analyzed. In the traditional theory of beam (and plate) large deflections, nonlinear restoring forces are due to the effect of stretching on bending;…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This work is concerned with the iterative regularization of a non-smooth nonlinear ill-posed problem where the forward mapping is merely directionally but not G\^ateaux differentiable. Using a Bouligand subderivative of the forward mapping,…
Everted tubes have often been modeled as inflated beams to determine transverse and axial buckling conditions. This paper seeks to validate the assumption that an everted tube can be modeled in this way. The tip deflections of everted and…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
This paper proposes a new general methodology for finite-time singularity formation for moving interface problems involving the incompressible Euler equations in the plane. The first problem considered is the two-phase Euler vortex sheets…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
Cantilevered beams are of immense importance as structural and sensorial members for a number of applications. Endowing tailorable elasticity can have wide ranging engineering ramification. Such tailorability could be possible using some…
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…
An effective nonlocal integral formulation for functionally graded Bernoulli-Euler beams in nonisothermal environment is developed. Both thermal and mechanical loadings are accounted for. The proposed model, of stress-driven integral type,…
The main contribution of this paper is the extension of the well-known boundary-control strategy based on structural invariants to the control of infinite-dimensional systems with in-domain actuation. The systems under consideration,…
The dynamics of a cantilever plate clamped at its trailing edge and placed at a moderate angle ($\alpha \leq 30^{\circ}$) to a uniform flow are investigated experimentally and numerically, and a large experimental data set is provided. The…
This paper studies the inverse problem related to the identification of the flexural stiffness of an Euler Bernoulli beam in order to reconstruct its profile starting from available response data. The proposed identification procedure makes…
The equilibrium configuration of an engineering structure, able to withstand a certain loading condition, is usually associated with a local minimum of the underlying potential energy. However, in the nonlinear context, there may be other…
We develop a Nitsche finite element method for a model of Euler--Bernoulli beams with axial stiffness embedded in a two--dimensional elastic bulk domain. The beams have their own displacement fields, and the elastic subdomains created by…