This paper studies the problem of fault detection and isolation (FDI) for multi-agent systems (MAS) via complex Laplacian subject to actuator faults. A planar formation of point agents in the plane using simple and linear interaction rules related to complex Laplacian is achieved. The communication network is a directed, and yet connected graph with a fixed topology. The loss of symmetry in the...

In this paper, a robust adaptive actuator failure compensation control scheme is proposed for a class of multi input multi output linear systems with unknown time-varying state delay and in the presence of unknown actuator failures and external disturbance. The adaptive controller structure is designed based on the SPR-Lyapunov approach to achieve the control objective under the specific assump...

Sensor application requirements vary tremendously, ranging from densely deployed habitat-monitoring setup to the real-time constrained military applications. This paper presents the design of a novel self-organizing framework for SANETs (Sensor and Actuator Networks). We assume two wireless interfaces at the actuator nodes, one to communicate with sensor nodes, and the other, for the neighborin...

Massive actuator arrays found their applications in robotics, pharmaceutics, aerospace, etc. Compared with electrically and/or pneumatically powered actuator array, hydraulic actuator has the comprehensive advantages of higher force density (i.e. force / actuation area), better controllability, and simpler remote control accessibility. This paper presents approaches to construct and control a m...

A new diaphragm actuator based on the ferromagnetic shape memory alloy (FSMA) composite is designed where the FSMA composite is composed of ferromagnetic soft iron and superelastic grade of NiTi shape memory alloy (SMA). The actuation mechanism for the FSMA composite plate of the actuator is the hybrid mechanism that we proposed previously. This diaphragm actuator is the first design toward des...

This paper presents a new architecture in soft robotics that utilizes particulate jamming technology. A novel concept of actuation is described that utilizes jamming technology to modulate the direction and magnitude of the work performed by a single central actuator. Jamming “activators” modulate work by jamming and unjamming (solidifying and liquifying) a granular medium coupled to a core act...

This paper presents a method of modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from cells, each containing six piezoelectric actuators and an amplification structure; however the results can be generalized to actuator arrays using solenoids, pneumatic cylinders, or any other fast acting linear actuators. The cells are controlled...

Since the actuator capacity is limited, in the real application of active control systems under sever earthquakes it is conceivable that the actuators saturate, hence the actuator saturation should be considered as a constraint in design of optimal controllers. In this paper optimal design of active controllers for nonlinear structures by considering actuator saturation, has been studied. The p...