Related papers: Oscillation Damping Control of Pendulum-like Manip…

We propose two schemes to generate entanglement between a pair of mechanical oscillators using parametric amplification. In contrast to existing parametric drive-based protocols, both schemes operate in the steady-state. Using a detuned…

Forced oscillation of a system composed of two pendulums coupled by a spring in the presence of damping is investigated. In the steady state and within the small angle approximation we solve the system equations of motion and obtain the…

Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…

This article extends the capabilities of the harmonic potential field approach to planning to cover both the kinematic and dynamic aspects of a robot motion. The suggested approach converts the gradient guidance field from a harmonic…

We perform experiments on the sloshing dynamics of liquids in a rectangular container submitted to an impulse. We show that when foam is placed on top of the liquid the oscillations of the free interface are significantly damped. The…

Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…

Fundamental sensor feedback limitations for improving rotor angle stability using local frequency or phase angle measurement are derived. Using a two-machine power system model, it is shown that improved damping of inter-area oscillations…

The development of vibration protection systems that ensure efficiency and safety in the operation of process equipment and pipelines is one of the main tasks of controlling the dynamic state of machines. One of the effective methods of…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

We present a linear stability analysis of a flow undergoing conductively-driven mass-loading from embedded clouds. We find that mass-loading damps isobaric and isentropic perturbations, and in this regard is similar to the effect of thermal…

We study the instabilities of a harmonic oscillator subject to additive and dichotomous multiplicative noise, focussing on the dependance of the instability threshold on the mass. For multiplicative noise in the damping, the instability…

We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…

We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…

Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…

In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…

Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…

The nanometer scale beam sizes at the interaction point in linear colliders limit the allowable motion of the final focus magnets. We have constructed a prototype system to investigate the use of active vibration damping to control magnet…

In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane…

The characteristics of drive-free oscillations of a damped simple pendulum under sinusoidal potential force field differ from those of the damped harmonic oscillations. The frequency of oscillation of a large amplitude simple pendulum…

We identify the nonlinear normal modes spawning from the stable equilibrium of a double pendulum under gravity, and we establish their connection to homoclinic orbits through the unstable upright position as energy increases. This result is…