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In the course of basic physics, more precisely the course of classical mechanics should be understood as clearly as possible the subject of rotational dynamics for students of science and engineering, to have clarity with the issues…
A physical pendulum with variable point of suspension (and, as an outcome, variable inertia moment) is experimentally analysed. In particular, the period of the small oscillations as a function of position of the suspension point is…
The Fermi liquid theory formulated by Landau is a basic paradigm of the behavior of an interacting many-body system. We present a new application of this theory to calculate "Landau force" on a macroscopic object. We show that immersing a…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
The inverted pendulum is a mechanical system with a rapidly oscillating pivot point. Using techniques similar in spirit to the methodology of effective field theories, we derive an effective Lagrangian that allows for the systematic…
A Swinging Atwood Machine (SAM) is built and some experimental results concerning its dynamic behaviour are presented. Experiments clearly show that pulleys play a role in the motion of the pendulum, since they can rotate and have…
Learning controllers that reproduce legged locomotion in nature has been a long-time goal in robotics and computer graphics. While yielding promising results, recent approaches are not yet flexible enough to be applicable to legged systems…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
The Looping pendulum phenomenon was first introduced in 2019 at the 32nd edition of the IYPT, wherein a lighter bob sweeps around a cylindrical rod to support the weight of a heavier bob. In this paper, the phenomenon was divided based on…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
To measure oscillation of a simple pendulum was probably a first idea coming to mind after appearance of smartphones with small but powerful acceleration sensors~: Simply attach the telephone to a playground swing or hang it on two string…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
We have designed, built and operated a physical pendulum which allows one to demonstrate experimentally the behaviour of the pendulum under any equation of motion for such a device for any initial conditions. All parameters in the equation…
This paper is devoted to the study of simulating a large class of self-similar processes. Since most current simulation approaches are limited to case-by-case studies, every existing approach has its constraints and flaws; hence a general…
The model we consider consists in a double pendulum set, where the pivot points are free to shift along a horizontal line. Moreover, the two pendula are coupled by means of a spring whose extremities connect two points of each pendulum, at…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…