Related papers: Feedback Integrators for Nonholonomic Mechanical S…
We show that symplectic and linearly-implicit integrators proposed by [Zhang and Skeel, 1997] are variational linearizations of Newmark methods. When used in conjunction with penalty methods (i.e., methods that replace constraints by stiff…
Coupling of chaotic oscillators has evidenced conditions where synchronization is possible, therefore a nonlinear system can be driven to a particular state through input from a similar oscillator. Here we expand this concept of control of…
This paper addresses the resilience of large-scale closed-loop structured systems in the sense of arbitrary pole placement when subject to failure of feedback links. Given a structured system with input, output, and feedback matrices, we…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
We consider coupled nonholonomic LR systems on the product of Lie groups. As examples, we study $n$-dimensional variants of the spherical support system and the rubber Chaplygin sphere. For a special choice of the inertia operator, it is…
In recent papers by the authors (S.~Motonaga and K.~Yagasaki, Obstructions to integrability of nearly integrable dynamical systems near regular level sets, submitted for publication, and K.~Yagasaki, Nonintegrability of nearly integrable…
Multi-symplectic integrators are typically regarded as a discretization of the Hamiltonian partial differential equations. This is due to the fact that, for generic finite-dimensional Hamiltonian systems, there exists only one independent…
We explore a case example of networks of classical electronic oscillators evolving towards the solution of complex optimization problems. We show that when driven into subharmonic response, a network of such nonlinear electrical resonators…
Finite-dimensional non-canonical Hamiltonian systems arise naturally from Hamilton's principle in phase space. We present a method for deriving variational integrators that can be applied to perturbed non-canonical Hamiltonian systems on…
This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then,…
Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
While many integrable spin systems are known to exist in (1+1) and (2+1) dimensions, the integrability property of the physically important (2+1) dimensional isotropic Heisenberg ferromagnetic spin system in the continuum limit has not been…
The Mishchenko-Fomenko theorem on superintegrable Hamiltonian systems is generalized to superintegrable Hamiltonian systems with noncompact invariant submanifolds. It is formulated in the case of globally superintegrable Hamiltonian systems…
Nonlocal interaction is shown to be an appropriate tool for controlling coherence resonance in ensembles of non-excitable oscillators. The constructive role of nonlocal coupling is demonstrated through numerical simulations on an example of…
This letter studies symmetric and symplectic exponential integrators when applied to numerically computing nonlinear Hamiltonian systems. We first establish the symmetry and symplecticity conditions of exponential integrators and then show…
We consider nonholonomic systems which symmetry groups consist of two subgroups one of which represents rotations about the axis of symmetry. After nonholonomic reduction by another subgroup the corresponding vector fields on partially…
Generally, natural scientific problems are so complicated that one has to establish some effective perturbation or nonperturbation theories with respect to some associated ideal models. In this Letter, a new theory that combines…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
We address the problem of constructing numerical integrators for nonholonomic Lagrangian systems that enjoy appropriate discrete versions of the geometric properties of the continuous flow, including the preservation of energy. Building on…