P. Boucher | Searcharxiv

arXiv2022

A high-fidelity and large-scale reconfigurable photonic processor for NISQ applications

Reconfigurable linear optical networks are a key component for the development of optical quantum information processing platforms in the NISQ era and beyond. We report the implementation of such a device based on an innovative design that uses the mode mixing of a multimode fiber in combination with the programmable wavefront shaping of a SLM. The capabilities of the platform are explored in the classical regime. For up to 8 inputs and a record number of 38 outputs, we achieve fidelities in excess of 93%, and losses below 6.5dB. The device was built inside a standard server rack to allow for real world use and shows consistent performance for 2x8 circuits over a period of 10 days without re-calibration.

quant-ph↗

arXiv2005

Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted tracking error and the predicted control effort. A key feature of this control law is that, for their implementation, there is no need to perform an online optimization, and asymptotic tracking of smooth reference trajectories is guaranteed. It is shown that this controller achieves the positions tracking objectives via link position measurements. The stability convergence of the output tracking error to the origin is proved. To enhance the robustness of the closed loop system with respect to payload uncertainties and viscous friction, an integral action is introduced in the loop. A nonlinear observer is used to estimate velocity. Simulation results for a two-link rigid robot are performed to validate the performance of the proposed controller. Keywords: receding-horizon control, nonlinear observer, robot manipulators, integral action, robustness.

cs.RO↗