This research advances hybrid soft-rigid robot simulations, achieving up to 1000 times faster computations through analytical derivatives in the GVS framework.

Abstract: MPC has gained popularity for its ability to satisfy constraints and guarantee robustness for certain classes of systems. However, for systems whose dynamics are characterized by a high ...

Abstract: This paper presents a novel approach to practical nonlinear model predictive control (PNMPC) using Kolmogorov–Arnold networks (KANs) as prediction models. KANs are based on the ...

What neural activity in motor cortex represents and how it controls ongoing movement remain unclear. Suggestions that cortex generates low-level muscle control are discredited by correlations with ...

MATLAB implementation of closed-loop feedback analysis for ENG3018 Practical 2, covering open-loop and closed-loop transfer functions, sensitivity analysis, time-domain responses, and phase-delay ...