相关论文: Frequency Response Data-Driven Disturbance Observe…

We propose a modulation-free optical frequency stabilization technique using an interferometric effect between transmitted and reflected lights from a reference cavity. The property of the reflected light brings robustness of the error…

Future Active Debris Removal (ADR) and On Orbit Servicing (OOS) missions demand for elaborate closed loop controllers. Feasible control architectures should take into consideration the inherent coupling of the free floating dynamics and the…

Dynamic control via optimized, piecewise-constant pulses is a common paradigm for open-loop control to implement quantum gates. While numerous methods exist for the synthesis of such controls, there are many open questions regarding the…

This paper presents the stability analysis of a system composed of rotating beams on a flexible, circular fixed ring, using the Routh-Hurwitz criterion. The model displayed has been fully developed within the rotating frame by use of an…

Inchworm crawling allows for both quasistatic and dynamic gaits at a wide range of actuation frequencies. This locomotion mechanism is common in nonskeletal animals and exploited extensively in the bio-inspired field of soft robotics. In…

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in…

The rapid integration of inverter-based resources (IBRs) into power systems has identified frequency security challenges due to reduced inertia and increased load volatility. This paper proposes a robust power reserve decision-making…

Flexible manufacturing has given rise to complex scheduling problems such as the flexible job shop scheduling problem (FJSP). In FJSP, operations can be processed on multiple machines, leading to intricate relationships between operations…

This paper addresses the problem of robust dynamic output stabilization of FO-LTI interval systems with the fractional order 0<{\alpha}<2, in terms of linear matrix inequalities (LMIs). Our purpose is to design a robust dynamic output…

Federated Reinforcement Learning (FRL) has garnered increasing attention recently. However, due to the intrinsic spatio-temporal non-stationarity of data distributions, the current approaches typically suffer from high interaction and…

This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and…

This paper presents a new framework for controller robustness verification with respect to F-16 aircraft's closed-loop performance in longitudinal flight. We compare the state regulation performance of a linear quadratic regulator (LQR) and…

A dual-rate control system is a hybrid system composed of continuous-time and discrete-time elements with two sampling frequencies. In this work, a new frequency domain analysis and design approach, based on the Quantitative Feedback Theory…

This paper works towards unifying two popular approaches in the safety control community: Hamilton-Jacobi (HJ) reachability and Control Barrier Functions (CBFs). HJ Reachability has methods for direct construction of value functions that…

This paper presents an optimization-based behavioral model for mixers driven by multi-tone local oscillator (LO) signals, considered specifically for frequency comb orthogonal frequency-division multiplexing radar applications. Unlike…

We study the performance of gradient-descent optimization to estimate the coefficients of the discrete-time first-order regular perturbation (FRP). With respect to numerically computed coefficients, the optimized coefficients yield a model…

The performances of braking control systems for robotic platforms, e.g., assisted and autonomous vehicles, airplanes and drones, are deeply influenced by the road-tire friction experienced during the maneuver. Therefore, the availability of…

Inverter-based resources (IBR) have been widely studied for their advantages on the current power systems. This increase in the penetration of renewable energy has raised some concerns about the stability of the existing grid. Historically,…

This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…

This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…