Zeros of orthogonal polynomials

Feedback systems: Input-output properties

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L2 Gain And Passivity Techniques In Nonlinear Control

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Guidance And Control Of Ocean Vehicles

Hidden attractors in dynamical systems

This paper proposes an intuitive human-swarm interaction framework inspired by our childhood memory in which we interacted with living ants by changing their positions and environments as if we were omnipotent relative to the ants. In virtual reality, analogously, we can be a super-powered virtual giant who can supervise a swarm of robots in a vast and remote environment by flying over or resizing the world, and coordinate them by picking and placing a robot or creating virtual walls. This work implements this idea by using Virtual Reality along with Leap Motion, which is then validated by proof-of-concept experiments using real and virtual mobile robots in mixed reality. We conduct a usability analysis to quantify the effectiveness of the overall system as well as the individual interfaces proposed in this work. The results reveal that the proposed method is intuitive and feasible for interaction with swarm robots, but may require appropriate training for the new end-user interface device.

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Omnipotent Virtual Giant for Remote Human–Swarm Interaction

Implementing and Assessing a Remote Teleoperation Setup with a Digital Twin Using Cloud Networking

This paper considers the Lurye system of a discrete-time, linear time-invariant plant in negative feedback with a nonlinearity. Both monotone and slope-restricted nonlinearities are considered. The main result is a procedure to construct destabilizing nonlinearities for the Lurye system. If the plant satisfies a certain phase condition then a monotone nonlinearity can be constructed so that the Lurye system has a non-trivial periodic cycle. Several examples are provided to demonstrate the construction. This represents a contribution for absolute stability analysis since the constructed nonlinearity provides a less conservative upper bound than existing bounds in the literature.

Construction of Periodic Counterexamples to the Discrete-Time Kalman Conjecture

This letter considers the instability of a Lurye system consisting of an uncertain, discrete-time, linear time-invariant plant in feedback with a slope-restricted nonlinearity. There is a large literature on analyzing the stability of such systems. This includes various conditions for proving stability of the Lurye system, including the Circle criterion and the use of O’Shea-Zames-Falb multipliers. In many cases, these conditions are sufficient but not necessary to prove stability. In contrast, there is also some work to construct specific nonlinearities that demonstrate the instability of the Lurye system (with the nominal plant dynamics). This letter considers a more general case where the plant has dynamic uncertainty. The goal is to construct both an instance of the uncertain model and a corresponding nonlinearity that combined make the Lurye system unstable. A limit cycle oscillation is also computed to verify the instability. A simple example is provided to demonstrate the results.

Construction of a Destabilizing Nonlinearity for Discrete-Time Uncertain Lurye Systems

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Joaquin Carrasco

Papers

Omnipotent Virtual Giant for Remote Human–Swarm Interaction

Implementing and Assessing a Remote Teleoperation Setup with a Digital Twin Using Cloud Networking

Construction of Periodic Counterexamples to the Discrete-Time Kalman Conjecture

Construction of a Destabilizing Nonlinearity for Discrete-Time Uncertain Lurye Systems

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