Related papers: Oscillation Damping Control of Pendulum-like Manip…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
This paper presents a design of oscillation damping control for the cable-Suspended Aerial Manipulator (SAM). The SAM is modeled as a double pendulum, and it can generate a body wrench as a control action. The main challenge is the fact…
Low mass suspension systems with high-Q pendulum stages are used to enable quantum radiation pressure noise limited experiments. Utilising multiple pendulum stages with vertical blade springs and materials with high quality factors provides…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
We investigate the dynamics of the pendulum suspended on the forced Duffing oscillator. The detailed bifurcation analysis in two parameter space (amplitude and frequency of excitation) which presents both oscillating and rotating periodic…
The mechanism of Landau damping is observed in various systems from plasma oscillations to accelerators. Despite its widespread use, some confusion has been created, partly because of the different mechanisms producing the damping but also…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Quantum optomechanics offers the potential to investigate quantum effects in macroscopic quantum systems in extremely well controlled experiments. In this paper we discuss one such situation, the dynamic stabilization of a mechanical system…
Experiments on the oscillatory motion of a suspended bar magnet throws light on the damping effects acting on the pendulum. The viscous drag offered by air was found the be the main contributor for slowing the pendulum down. The nature and…
For the model of a linearly driven quantum anharmonic oscillator, the role of damping is investigated. We compare the position of the stable points in phase space obtained from a classical analysis to the result of a quantum mechanical…
In the present study an oscillator system formed by a seesaw connected to a simple pendulum coupled to a mobile platform with a certain slope, is analyzed. The observed properties of the system when faced with a possible displacement of the…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
The problem of damping a system of linear oscillators is considered. The problem is solved by using a control in the form of dry friction. The motion of the system under the control is governed by a system of differential equations with…
We explore analytically the quantum dynamics of a point mass pendulum using the Heisenberg equation of motion. Choosing as variables the mean position of the pendulum, a suitably defined generalised variance and a generalised skewness, we…
In this paper we show that feedback passivation under sampling can be preserved under digital control through the redefinition of a passifying output map which depends on the sampling period. The design is constructive and approximate…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
We present the results of linear stability of a damped coplanar double pendulum and its non-linear motion, when the point of suspension is vibrated sinusoidally in the vertical direction with amplitude $a$ and frequency $\omega $. A double…
We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an…