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We consider a gyroscopic system under the action of small dissipative and non-conservative positional forces, which has its origin in the models of rotating bodies of revolution being in frictional contact. The spectrum of the unperturbed…
This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly…
This paper presents a motion analysis framework for an athlete wearing sport-specific flexible prosthesis based on the soft-rigid hybrid-link system. Such a motion analysis is a challenging problem because we need to consider the…
This paper studies robustness of MIMO control systems with parametric uncertainties, and establishes a lower dimensional robust stability criterion. For control systems with interval transfer matrices, we identify the minimal testing set…
We present Molecular Dynamics simulations of one- and two-dimensional bead-spring models sliding on incommensurate substrates. We investigate how sliding friction is affected by interaction anharmonicity and structural defects. In their…
We propose a simple rubber friction law, which can be used, e.g., in models of tire (and vehicle) dynamics. The friction law is tested by comparing numerical results to the full rubber friction theory (B.N.J. Persson, J. Phys.: Condensed…
Proportional-Integral-Derivative (PID) control has been the workhorse of control technology for about a century. Yet to this day, designing and tuning PID controllers relies mostly on either tabulated rules (Ziegler-Nichols) or on classical…
A linear stability analysis of the hydrodynamic equations with respect to the homogeneous cooling state is carried out to identify the conditions for stability of a granular gas of rough hard spheres. The description is based on the results…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
This paper presents a novel method for stability analysis of a wide class of linear, time-delay systems (TDS), including retarded non-neutral ones, as well as those incorporating incommensurate and distributed delays. The proposed method is…
Power systems are usually large non-linear systems, which are often subjected to low frequency electromechanical oscillations. Power System Stabilizers are often used as effective and economic means for damping the generator's…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
In the study of trapped two-component Bose gases, a widely used dynamical protocol is to start from the ground state of a one-component condensate and then switch half the atoms into another hyperfine state. The slightly different…
This paper deals with an audible disturbance known as automotive clutch squeal noise from the viewpoint of friction-induced mode coupling instability. Firstly, an auto-coupling model is presented showing a non-conservative circulatory…
A single frictional elastic disk, supported against gravity by two others, rotates steadily when the supports are vibrated and the system is tilted with respect to gravity. Rotation is here studied using Molecular Dynamics Simulations, and…
This paper analyzes the robustness and stability of a disturbance observer (DOB) and a reaction torque observer (RTOB) based robust motion control systems. Conventionally, a DOB is analyzed by using an ideal velocity measurement that is…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
A new measure to characterize stability of complex dynamical systems against large perturbation is suggested, the stability threshold (ST). It quantifies the magnitude of the weakest perturbation capable to disrupt the system and switch it…
We consider conformation of a chain consisting of beads connected by stiff springs, where the conformation is determined by the bending angles between the consecutive two springs. A conformation is stabilized or destabilized not only by a…