16 citations · 46 across the 11 of their papers we have counts for
14 papers
Orientation Control of Soft Robots via Adiabatic Spectral Submanifolds
Aron Karakai, Roshan S. Kaundinya, Mike Yan Michelis +2
Soft robots are commonly sought for safety-critical interactions in delicate environments, where accurate position and orientation control is imperative. Model predictive control (…
Parametric Spectral Submanifolds across Hopf Bifurcations with Applications to Fluid Dynamics
James King, Bálint Kaszás, Gergely Buza +2
We investigate the persistence and regularity of spectral submanifolds (SSMs) in high-dimensional parametric dynamical systems undergoing a Hopf bifurcation. By analyzing how reson…
Nonlinear Spectral Modeling and Control of Soft-Robotic Muscles from Data
Leonardo Bettini, Amirhossein Kazemipour, Robert K. Katzschmann +1
Artificial muscles are essential for compliant musculoskeletal robotics but complicate control due to nonlinear multiphysics dynamics. Hydraulically amplified electrostatic (HASEL)…
Taming High-Dimensional Dynamics: Learning Optimal Projections onto Spectral Submanifolds
Hugo Buurmeijer, Luis A. Pabon, John Irvin Alora +3
High-dimensional nonlinear systems pose considerable challenges for modeling and control across many domains, from fluid mechanics to advanced robotics. Such systems are typically…
Data-Driven Nonlinear Model Reduction to Spectral Submanifolds via Oblique Projection
Leonardo Bettini, Bálint Kaszás, Bernhard Zybach +2
The dynamics in a primary Spectral Submanifold (SSM) constructed over the slowest modes of a dynamical system provide an ideal reduced-order model for nearby trajectories. Modeling…
Data-Driven Soft Robot Control via Adiabatic Spectral Submanifolds
Roshan S. Kaundinya, John Irvin Alora, Jonas G. Matt +3
The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots…
Data-Driven Reduction of the Finite-Element Model of a Tribomechadynamics Benchmark Problem
Ahmed Amr Morsy, Zhenwei Xu, Paolo Tiso +1
Bolted joints can exhibit nonsmooth and significantly nonlinear dynamics. Finite Element Models (FEMs) of this phenomenon require fine spatial discretizations, inclusion of nonline…
Nonlinear Model Reduction to Random Spectral Submanifolds in Random Vibrations
Zhenwei Xu, Roshan S. Kaundinya, Shobhit Jain +1
Dynamical systems in engineering and physics are often subject to irregular excitations that are best modeled as random. Monte Carlo simulations are routinely performed on such ran…
Data-driven modeling of the regular and chaotic dynamics of an inverted flag from experiments
Zhenwei Xu, Bálint Kaszás, Mattia Cenedese +3
We use video footage of a water tunnel experiment to construct a two-dimensional reduced-order model of the flapping dynamics of an inverted flag in uniform flow. The model is obta…
Model Reduction to Spectral Submanifolds in Non-Smooth Dynamical Systems
Leonardo Bettini, Mattia Cenedese, George Haller
We develop a model reduction technique for non-smooth dynamical systems using spectral submanifolds. Specifically, we construct low-dimensional, sparse, nonlinear and non-smooth mo…
Data-Assisted Non-Intrusive Model Reduction for Forced Nonlinear Finite Elements Models
Mattia Cenedese, Jacopo Marconi, George Haller +1
Spectral submanifolds (SSMs) have emerged as accurate and predictive model reduction tools for dynamical systems defined either by equations or data sets. While finite-elements (FE…
Capturing the Edge of Chaos as a Spectral Submanifold in Pipe Flows
Bálint Kaszás, George Haller
An extended turbulent state can coexist with the stable laminar state in pipe flows. We focus here on short pipes with additional discrete symmetries imposed. In this case, the bou…
Fast computation and characterization of forced response surfaces via spectral submanifolds and parameter continuation
Mingwu Li, Shobhit Jain, George Haller
For mechanical systems subject to periodic excitation, forced response curves (FRCs) depict the relationship between the amplitude of the periodic response and the forcing frequenc…
Robust Nonlinear Reduced-Order Model Predictive Control
John Irvin Alora, Luis A. Pabon, Johannes Köhler +5
Real-world systems are often characterized by high-dimensional nonlinear dynamics, making them challenging to control in real time. While reduced-order models (ROMs) are frequently…