Related papers: Feedback Integrators for Nonholonomic Mechanical S…
The aim of this paper is to explore the relationship between invariant cones and nonlinear normal modes in piecewise linear mechanical systems. As a key result, we extend the invariant cone concept, originally established for homogeneous…
We study feedback control of coupled nonlinear stochastic oscillators in a force field. We first consider the problem of asymptotically driving the system to a desired {\em steady state} corresponding to reduced thermal noise. Among the…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the…
An application design is offered, which students of physics can use when authoring a solver for mechanical systems with constraints. A 'chainlist' concept is introduced to capture a constrained mechanical system configuration and to pass…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
A $k$-symplectic framework for classical field theories subject to nonholonomic constraints is presented. If the constrained problem is regular one can construct a projection operator such that the solutions of the constrained problem are…
We construct the exponential map associated to a nonholonomic system that allows us to define an exact discrete nonholonomic constraint submanifold. We reproduce the continuous nonholonomic flow as a discrete flow on this discrete…
In this paper, we construct Hamilton-Jacobi equations for a great variety of mechanical systems (nonholonomic systems subjected to linear or affine constraints, dissipative systems subjected to external forces, time-dependent mechanical…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
In nonholonomic mechanics, the presence of constraints in the velocities breaks the well-under\-stood link between symmetries and first integrals of holonomic systems, expressed in Noether's Theorem. However there is a known special class…
This paper is devoted to discrete mechanical systems subject to external forces. We introduce a discrete version of systems with Rayleigh-type forces, obtain the equations of motion and characterize the equivalence for these systems.…
Recent general results on Hamiltonian reductions under polar group actions are applied to study some reductions of the free particle governed by the Laplace-Beltrami operator of a compact, connected, simple Lie group. The reduced systems…
We consider the stabilization problem for driftless control-affine systems under the bracket-generating condition. In our previous works, a class of time-varying feedback laws has been constructed to stabilize the equilibrium of a…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
We use the recent theory of Spectral Submanifolds (SSM) for model reduction of nonlinear mechanical systems subject to parametric excitations. Specifically, we develop expressions for higher-order nonautonomous terms in the parameterization…
The Lie-Hamilton approach for $t$-dependent Hamiltonians is extended to cover the so-called nonlinear Lie-Hamilton systems, which are no longer related to a linear $t$-dependent combination of a basis of a finite-dimensional Lie algebra of…
A recent large deflection cantilever model is considered. The principal nonlinear effects come through the beam's inextensibility---local arc length preservation---rather than traditional extensible effects attributed to fully restricted…
We consider application of the multiple time delayed feedback for control of anharmonic (nonlinear) oscillators subject to noise. In contrast to the case of a single delay feedback, the multiple one exhibits resonances between feedback and…
We develop a theory of Lagrangian reduction on loop groups for completely integrable systems after having exchanged the role of the space and time variables in the multi-time interpretation of integrable hierarchies. We then insert the…