100 citations · 381 across the 46 of their papers we have counts for
47 papers
Distributed end-effector formation control for mixed fully- and under-actuated manipulators with flexible joints
Zhiyu Peng, Bayu Jayawardhana, Xin Xin
The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. Based on two-link planar manipulators, we investigate…
Distributed formation control of end-effector of mixed planar fully- and under-actuated manipulators
Zhiyu Peng, Bayu Jayawardhana, Xin Xin
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipula…
Flexible Distributed Flocking Control for Multi-agent Unicycle Systems
Tinghua Li, Bayu Jayawardhana
Currently, the general aim of flocking and formation control laws for multi-agent systems is to form and maintain a rigid configuration, such as, the alpha-lattices in flocking con…
Cooperative Nearest-Neighbor Control of Multi-Agent Systems: Consensus and Formation Control Problems
Muhammad Zaki Almuzakki, Bayu Jayawardhana
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumptio…
Range-Only Bearing Estimator for Localization and Mapping
Matteo Marcantoni, Bayu Jayawardhana, Kerstin Bunte
Navigation and exploration within unknown environments are typical examples in which simultaneous localization and mapping (SLAM) algorithms are applied. When mobile agents deploy…
Data-driven dissipative verification of LTI systems: multiple shots of data, QDF supply-rate and application to a planar manipulator
Tábitha Esteves Rosa, Bayu Jayawardhana
We present a data-driven dissipative verification method for LTI systems based on using multiple input-output data. We assume that the supply-rate functions have a quadratic differ…
Collision-free Source Seeking and Flocking Control of Multi-agents with Connectivity Preservation
Tinghua Li, Bayu Jayawardhana
In this article, we present a distributed source-seeking and flocking control method for networked multi-agent systems with non-holonomic constraints. Based solely on identical on-…
Collision-free Source Seeking Control Methods for Unicycle Robots
Tinghua Li, Bayu Jayawardhana
In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance i…
The MICADO Atmospheric Dispersion Corrector: Optomechanical design, expected performance and calibration techniques
J. A. van den Born, R. Romp, A. W. Janssen +5
The differential refraction of light passing through the atmosphere can have a severe impact on image quality if no atmospheric dispersion corrector (ADC) is used. For the Extremel…
Analysing the influence of power take-off adaptability on the power extraction of dense wave energy converter arrays
Alva Bechlenberg, Yanji Wei, Bayu Jayawardhana +1
The aim of this work is to assess the influence of different degrees of adaptability of the power take-off (PTO) system on the power absorption of dense wave energy converter (WEC)…
Kron-based Model-order Reduction of Open Mass-action Kinetics Chemical Reaction Networks
Mohamad Agung Prawira Negara, Azka Muji Burohman, Bayu Jayawardhana
We propose a Kron-based model-order reduction method for mass-action kinetics chemical reaction networks (CRN) with constant inflow and proportional outflow. The reduced-order mode…
Total Energy Shaping with Neural Interconnection and Damping Assignment -- Passivity Based Control
Santiago Sanchez-Escalonilla, Rodolfo Reyes-Baez, Bayu Jayawardhana
In this work we exploit the universal approximation property of Neural Networks (NNs) to design interconnection and damping assignment (IDA) passivity-based control (PBC) schemes f…
Modeling and analysis of Duhem hysteresis operators with butterfly loops
M. A. Vasquez-Beltran, B. Jayawardhana, R. Peletier
In this work we study and analyze a class of Duhem hysteresis operators that can exhibit butterfly loops. We study firstly the consistency property of such operator which correspon…
Distributed formation control for manipulator end-effectors
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios…
Source Seeking Control of Unicycle Robots with 3D-printed Flexible Piezoresistive Sensors
Tinghua Li, Bayu Jayawardhana, Amar Kamat +1
We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based pi…
Homomorphic Encryption-Enabled Distance-Based Distributed Formation Control with Distance Mismatch Estimators
Mariano Perez Chaher, Bayu Jayawardhana, Junsoo Kim
This paper considers the use of fully homomorphic encryption for the realisation of distributed formation control of multi-agent systems via edge computer. In our proposed framewor…
On the one-shot data-driven verification of dissipativity of LTI systems with general quadratic supply rate function
Tábitha E. Rosa, Bayu Jayawardhana
Based on a one-shot input-output set of data from an LTI system, we present a verification method of dissipativity property based on a general quadratic supply-rate function. We sh…
Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at…
Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local info…
On the characterization of butterfly and multi-loop hysteresis behavior
M. A. Vasquez-Beltran, B. Jayawardhana, R. Peletier
While it is widely used to represent hysteresis phenomena with unidirectional-oriented loops, we study in this paper the use of Preisach operator for describing hysteresis behavior…
A Fourier optics approach to evaluate the astrometric performance of MICADO
J. A. van den Born, W. Jellema, R. Navarro +3
We present our investigation into the impact of wavefront errors on high accuracy astrometry using Fourier Optics. MICADO, the upcoming near-IR imaging instrument for the Extremely…
Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: Two and Three Robot Case
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and r…
Recursive algorithm for the control of output remnant of Preisach hysteresis operator
M. A. Vasquez-Beltran, B. Jayawardhana, R. Peletier
We study in this paper the control of hysteresis-based actuator systems where its remanence behavior (e.g., the remaining memory when the actuation signal is set to zero) must foll…
Angle-Constrained Formation Control for Circular Mobile Robots
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to ha…