Related papers: Phase Uncertainty to State Stability of Continuous…
Motivation: Many biochemical pathways are known, but the numerous parameters required to correctly explore the dynamics of the pathways are not known. For this reason, algorithms that can make inferences by looking at the topology of a…
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this…
We say that an algorithm is stable if small changes in the input result in small changes in the output. This kind of algorithm stability is particularly relevant when analyzing and visualizing time-varying data. Stability in general plays…
We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single…
In this paper we consider a one dimensional liner piecewise-smooth discontinuous map. It is well known that stable periodic orbits exist in this type of map for a specific parameter region. It is also known that the corresponding…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
We discuss the {\it nonlinear stability} of phase-locked states for globally coupled nonlinear oscillators with finite inertia, namely the modified Kuramoto model, in the context of the robust $\ell^{\infty}$-norm. We show that some classes…
This paper considers the problem of robust stability for a class of uncertain quantum systems subject to unknown perturbations in the system Hamiltonian. Some general stability results are given for different classes of perturbations to the…
Via evaluation of the Lyapunov exponent, we report the discovery of three prominent sets of phase space regimes of quasi-periodic orbits of charged particles trapped in a dipole magnetic field. Besides the low energy regime that has been…
When dealing with an orbit determination problem, uncertainties naturally arise from intrinsic errors related to observation devices and approximation models. Following the least squares method and applying approximation schemes such as the…
Unstable Periodic Orbits (UPOs) were used to identify regimes, and transitions between regimes, in a reduced-order coupled atmosphere-land spectral model. In this paper we describe how the chaotic attractor of this model was clustered using…
Some phase space transport properties for a conservative bouncer model are studied. The dynamics of the model is described by using a two-dimensional measure preserving mapping for the variables velocity and time. The system is…
We present a method for determining optimal modes of operation for autonomously oscillating systems with uncertain parameters. In a typical application of the method, a nonlinear dynamical system is optimized with respect to an economic…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
We provide a constructive method designed in order to control the stability of a given periodic orbit of a general completely integrable system. The method consists of a specific type of perturbation, such that the resulting perturbed…
Force-based models describe pedestrian dynamics in analogy to classical mechanics by a system of second order ordinary differential equations. By investigating the linear stability of two main classes of forces, parameter regions with…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…
The present paper deals with sufficient conditions for orbital stability of periodic waves of a general class of evolution equations supporting nonlinear dispersive waves. Our method can be seen as an extension to spatially periodic waves…
Gait phase-based control is a trending research topic for walking-aid robots, especially robotic lower-limb prostheses. Gait phase estimation is a challenge for gait phase-based control. Previous researches used the integration or the…
We investigate the instabilities and bifurcations of traveling pulses in a model excitable medium; in particular we discuss three different scenarios for the loss of stability resp. the disappearance of stable pulses. In numerical…