Related papers: Oscillation Damping Control of Pendulum-like Manip…
We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support areas to take into account (a) frictional constraints and…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
We introduce a novel adaptive damping technique for an inertial gradient system which finds application as a gradient descent algorithm for unconstrained optimisation. In an example using the non-convex Rosenbrock's function, we show an…
This letter proposes an analytical approach to formulate the power system oscillation frequency under a large disturbance. A fact is revealed that the oscillation frequency is only the function of the oscillation amplitude when the system's…
This paper presents an online walking synthesis methodology to enable dynamic and stable walking on constrained footholds for underactuated bipedal robots. Our approach modulates the change of angular momentum about the foot-ground contact…
In this paper we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular interconnection and damping assignment passivity-based…
The development of physical simulators, called Ising machines, that sample from low energy states of the Ising Hamiltonian has the potential to drastically transform our ability to understand and control complex systems. However, most of…
This paper considers a nonlinear spherical pendulum whose suspension point performs high-frequency spatial vibrations. The dynamics of this pendulum can be described by averaging its Hamiltonian over phases of vibrations. Rotationally…
Non-linear equations of radial motion of a gas bubble in a compressible viscous liquid have been modified considering effects of viscosity and compressibility more complete than all previous works. A new set of equations has been derived…
We present a method to control transport in Hamiltonian systems. We provide an algorithm - based on a perturbation of the original Hamiltonian localized in phase space - to design small control terms that are able to create isolated…
The present paper introduces a novel approach for modelling the governing, slow dynamics of near-field acoustically levitated objects. This model is sufficiently simple and concise to enable designing a closed-loop controller, capable of…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
In this study, the properties of an oscillating system composed of a pendulum connected to a seesaw and placed on a moving platform with a certain slope are analyzed. Using complex numbers to collect the information contained in the system…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
We approximate an elliptic problem with oscillatory coefficients using a problem of the same type, but with constant coefficients. We deliberately take an engineering perspective, where the information on the oscillatory coefficients in the…
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…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Presented here is a study of well-posedness and asymptotic stability of a "degenerately damped" PDE modeling a vibrating elastic string. The coefficient of the damping may vanish at small amplitudes thus weakening the effect of the…
Damping devices are necessary for suppressing the undesired coil motions in the watt/joule balance. In this paper, an active electromagnetic damping device, located outside the main magnet, is introduced in the joule balance project. The…
Small-signal stability issues-induced broadband oscillations pose significant threats to the secure operation of multi-inverter systems, attracting extensive research attention. Researches revealed that system instability is led by the…