4 research outputs found

    Speed-gradient method in adaptive control and identification. Historical overview

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    The paper provides a historical overview of the Speed-gradient method and its applications to adaptive control and identification problems since mid-1970-th, when the method was originated, till the present days. It is demonstrated that it is an efficient and an useful tool for solving a wide range of engineering problems

    Coupled liquid crystalline oscillators in Huygens’ synchrony

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    In the flourishing field of soft robotics, strategies to embody communication and collective motion are scarce. Here we report the synchronized oscillations of thin plastic actuators by an approach reminiscent of the synchronized motion of pendula and metronomes. Two liquid crystalline network oscillators fuelled by light influence the movement of one another and display synchronized oscillations in-phase and anti-phase in a steady state. By observing entrainment between the asymmetric oscillators we demonstrate the existence of coupling between the two actuators. We qualitatively explain the origin of the synchronized motion using a theoretical model and numerical simulations, which suggest that the motion can be tuned by the mechanical properties of the coupling joint. We thus anticipate that the complex synchronization phenomena usually observed in rigid systems can also exist in soft polymeric materials. This enables the use of new stimuli, featuring an example of collective motion by photo-actuation