Holonomies, arising from non-Abelian geometric transformations of quantum states in Hilbert space, offer a promising way for computation. These holonomies are not commutable and thus can be used the realization universal set logic gates, where global feature may result some noise-resilient advantages. Here we report first on-chip controlled-Not gate superconducting circuit, which is building bl...

In this paper, we develop a hybrid iterative learning controller (HILC) for non-holonomic wheeled mobile platform to achieve trajectory tracking with actual complex constraints, such as physical uncertain parameters, and initial errors. Unlike the traditional (ILC), control variable selects rotation speed of two driving wheels instead forward speed. The considers constraints robot’s motors can ...

Abstract We consider tracking control for multibody systems which are modeled using holonomic and non-holonomic constraints. Furthermore, the may be underactuated contain kinematic loops thus described by a set of differential-algebraic equations that cannot reformulated as ordinary differential in general. propose strategy combines feedforward controller based on servo-constraints approach wit...

It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair substitution, an under-actuated manipulator, previously proposed by one of the authors, will be demonstrated to be generated from an inversion of the 6-3 FPM. Moreover, the kinetos...

This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetry-preserving observers. We consider an observer to consist in a copy of the system equatio...

This paper presents three non-linear asymptotic observers corresponding to three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetrypreserving observers. We consider an observer to consist in a co...