This work investigates the tracking control problem for underactuated mechanical systems. To this end, we develop an extension of dynamic tube Model Predictive Control (MPC) approach by combining MPC design, ancillary energy shaping controller constructed with Interconnection and Damping Assignment Passivity-Based methodology, analytical expression tube. In addition, extend proposed including a...

In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no satisfy Brockett’s necessary condition for smooth stabilisation. Here, we propose a discontinuous control law that can be seen as a potential energy shaping and d...

Background/introduction Obstruction by the thoracic cage of the high intensity focused ultrasound (HIFU) beam is one of the major challenges in the ablation of abdominal lesions. Several beam shaping methods have been proposed to reduce exposure of the ribs to acoustic energy and to recover focal point intensity. The feasibility of HIFU ablation of a clinically relevant volume applying beam sha...

in scpc-dama satellite networks, the baseband rrc pulse shaping is utilized to reduce the bandwidth and inter symbol interference (isi). but the variation in carrier's envelope, which expands the spectrum and ultimately increases the bandwidth, causes isi and quadrature channel crosstalk (qcc). the goal of this paper is to introduce a method to shape baseband rrc pulses, in order to make a near...

In this work, the method of iterative Fourier transform phase reconstruction, conventionally used in holography and optical image reconstruction, is applied to phase only synthesis of antenna patterns. The method is applied to two types of pattern synthesis problems: "main lobe beam shaping" and "side-lobe-level reduction". The proposed method is most useful in the efficient employment of attai...

Deep reinforcement learning (DRL) has been successfully used to solve various robotic manipulation tasks. However, most of the existing works do not address issue control stability. This is in sharp contrast theory community where well-established norm prove stability whenever a law synthesized. What makes traditional analysis difficult for DRL are uninterpretable nature neural network policies...

This letter investigates the model-based control of a class soft continuum manipulators with hydraulic actuation that bend on plane due to pressurization one or more internal chambers. A port-Hamiltonian formulation is employed describe system dynamics, which includes pressure dynamics fluid. new nonlinear law constructed an energy-shaping approach, and it combined adaptive observer compensate ...

Abstract: H Control designs are quite effective in robust design for systems under unstructured uncertainty, unknown disturbance and measurement noise. Conventional H loop-shaping is a reasonable method for designing the robust controller. H Loop-shaping guarantees closed-loop performance and robustness to generic unstructured dynamic uncertainty, where robustness to uncertainty is incorporated...

In this paper we discuss the passivity based control of the two-link robot known as the Compass Gait Biped. Starting from a narrow region of initial conditions, the compass gait biped is capable of locomotion down shallow inclines without actuation or feedback control of any kind. We will discuss some feedback control strategies that can exploit these passive dynamics by shaping the energy of t...