Research
Research
Research
Research
372+ open-access research outputs.
We present a unifying Nearly Asymptotically Invariant Manifold (NAIM) framework for understanding Nesterovs Accelerated Gradient (NAG) method. By lifting the first-order gradient flow into a second-or…
Alberto Isidori's framework of geometric nonlinear control, and particularly of feedback linearization, is the inspiration behind PDE backstepping: apply a transfromation of the state to cast the plan…
Three-dimensional (3D) wide-field fluorescence microscopy is a widely used modality for volumetric imaging, but suffers from characteristic out-of-focus blur. Existing reconstruction methods either st…
This paper addresses the classic problem of parameter estimation (PE) in multimachine power system models. Such models are typically described by a set of nonlinear differential-algebraic equations (D…
Reduced-order models (ROMs) are essential for rapid simulation of complex biomechanical systems and for bridging the gap between high fidelity models and clinical application. However, ROMs for tissue…
Consider a non-uniform Euler-Bernoulli beam with a tip-mass at one end and a cantilever joint at the other end. The cantilever joint is not fixed and can itself be moved along an axis perpendicular to…
Ordinary differential equations (ODE's) are a cornerstone of systems and control theory. Accordingly, they are standard material in undergraduate programs in engineering and there is abundant didactic…
Visual navigation is a core challenge in Embodied AI, requiring autonomous agents to translate high-dimensional sensory observations into continuous, long-horizon action trajectories. While generative…
This work establishes a rigorous bridge between infinite-dimensional delay dynamics and finite-dimensional Koopman learning, with explicit and interpretable error guarantees. While Koopman analysis is…
This paper presents a learning-based approach for all-pairs motion planning, where the initial and goal states are allowed to be arbitrary points in a safe set. We construct smooth goal-conditioned ne…
Energy-based models (EBMs) implement inference as gradient descent on a learned Lyapunov function, yielding interpretable, structure-preserving alternatives to black-box neural ODEs and aligning natur…
Certifying the Region of Attraction (ROA) for high-dimensional nonlinear dynamical systems remains a severe computational bottleneck. Traditional deterministic verification methods, such as Sum-of-Squ…
Modern control systems frequently operate under input delays and sampled state measurements. A common delay-compensation strategy is predictor feedback; however, practical implementations require solv…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation …
Calibrating chemical kinetics in a reaction-diffusion system is challenging because of complex dynamics governed by tightly coupled chemistry and transport, while experimental observations are often s…
Many engineered physical processes exhibit nonlinear but asymptotically stable dynamics that converge to a finite set of equilibria determined by control inputs. Identifying such systems from data is …
Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic…
Cascading failures in power grids pose severe risks to infrastructure reliability, yet real-time prediction of their progression remains an open challenge. Physics-based simulators require minutes to …
Recent Vision-Language-Action (VLA) models equipped with Flow Matching (FM) action heads achieve state-of-the-art performance in complex robot manipulation. However, the multi-step iterative ODE solvi…
Generative Control Policies (GCPs) show immense promise in robotic manipulation but struggle to simultaneously model stable global motions and high-frequency local corrections. While modern architectu…
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