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This paper presents an alternative approach for the computation of trajectory segments on slow manifolds of saddle type. This approach is based on iterative methods rather than collocation-type methods. Compared to collocation methods, that…
We argue that, under multidimensional position-dependent mass (PDM) settings, the Euler-Lagrange textbook invariance falls short and turned out to be vividly incomplete and/or insecure for a set of PDM-Lagrangians. We show that the…
We apply an operator-theoretic viewpoint to a class of non-smooth dynamical systems that are exposed to event-triggered state resets. The considered benchmark problem is that of a pendulum which receives a downward kick under certain fixed…
This paper presents a model-based balance stabilization system which takes into account not only the stable part of COM dynamics but also the unstable part. In this system, the overall dynamics of a humanoid robot is approximated using a…
Pendulums are simple mechanical systems that have been studied for centuries and exhibit many aspects of modern dynamical systems theory. In particular, the double pendulum is a prototypical chaotic system that is frequently used to…
In this work, we examine a spectrum of hybrid model for the domain of multi-body robot dynamics. We motivate a computation graph architecture that embodies the Newton Euler equations, emphasizing the utility of the Lie Algebra form in…
We present a solvable biped walking model based on an inverted pendulum with two massless articulated legs capable of walking on uneven floors and inclined planes. The stride of the two-legged robot results from the pendular motion of a…
Methods of dynamical systems have been used to study homogeneous and isotropic cosmological models with a varying speed of light (VSL). We propose two methods of reduction of dynamics to the form of planar Hamiltonian dynamical systems for…
A discrete theory for implicit nonholonomic Lagrangian systems undergoing elastic collisions is developed. It is based on the discrete Lagrange-d'Alembert-Pontryagin variational principle and the dynamical equations thus obtained are the…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
Numerically simulating deformations in thin elastic sheets is a challenging problem in computational mechanics due to destabilizing compressive stresses that result in wrinkling. Determining the location, structure, and evolution of…
Inverse linear programming (LP) has received increasing attention due to its potential to generate efficient optimization formulations that can closely replicate the behavior of a complex system. However, inversely inferred parameters and…
A new algorithm to perform coherent mode decomposition of the undulator radiation is proposed. It is based in separating the horizontal and vertical directions, reducing the problem by working with one-dimension wavefronts. The validity…
This work addresses the Hamiltonian dynamics of the Kepler problem in a deformed phase space, by considering the equatorial orbit. The recursion operators are constructed and used to compute the integrals of motion. The same investigation…
Learning accurate dynamics models is necessary for optimal, compliant control of robotic systems. Current approaches to white-box modeling using analytic parameterizations, or black-box modeling using neural networks, can suffer from high…
A system of partial differential equations describing the spatial oscillations of an Euler-Bernoulli beam with a tip mass is considered. The linear system considered is actuated by two independent controls and separated into a pair of…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
The non-standard Lagrangians (NSLs) for dissipative-like dynamical systems were introduced in an ad hoc fashion rather than being derived from the solution of the inverse problem of variational calculus. We begin with the first integral of…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…