Related papers: Sensitivity Analysis for Hybrid Systems and System…
Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…
Sensitivity analysis, especially adjoint based sensitivity analysis, is a powerful tool for engineering design which allows for the efficient computation of sensitivities with respect to many parameters. However, these methods break down…
This paper studies input-to-state stability for hybrid systems with memory, which models hybrid dynamics affected by time delays. Using both Lyapunov-Razumikhin functions and Lyapunov-Krasovskii functionals, Lyapunov-based sufficient…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We propose a framework to analyze stability for a class of linear non-autonomous hybrid systems, where the continuous evolution of solutions is governed by an ordinary differential equation and the instantaneous changes are governed by a…
Motivated by a real problem in steel production, we introduce and analyze a general class of singularly perturbed linear hybrid systems with both switches and impulses, in which the slow or fast nature of the variables can be…
We investigate the stability properties of discrete and hybrid stochastic nonlinear dynamical systems. More precisely, we extend the stochastic contraction theorems (which were formulated for continuous systems) to the case of discrete and…
Hybrid approaches that combine data-driven learning with physics-based insight have shown promise for improving the reliability of industrial condition monitoring. This work develops a hybrid condition monitoring framework that integrates…
Multibody dynamics simulations have become widely used tools for vehicle systems analysis and design. As this approach evolves, it becomes able to provide additional information for various types of analyses. One very important direction is…
This paper proposes a semidefinite programming based method for estimating moments of a stochastic hybrid system (SHS). For polynomial SHSs -- which consist of polynomial continuous vector fields, reset maps, and transition intensities --…
This paper addresses characterizations of Integral Input-to-State Stability (iISS) for hybrid systems with memory. Based on the Krasovskii approach, a novel Lyapunov characterization of iISS is established to extend the hybrid system theory…
We develop a sensitivity function for the design of electron optics using an adjoint approach based on a form of reciprocity implicit in Hamilton's equations of motion. The sensitivity function, which is computed with a small number of…
Convergence properties of model-free two-timescale asymptotic simulations of singularly perturbed hybrid inclusions are developed. A hybrid inclusion combines constrained differential and difference inclusions to capture continuous (flow)…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
We consider the stability and the input-output analysis problems of a class of large-scale hybrid systems composed of continuous dynamics coupled with discrete dynamics defined over finite alphabets, e.g., deterministic finite state…
In the paper a two-dimensional integro-differential system is considered. Using some variational methods we give sufficient conditions for the existence and uniqueness of a solution to the considered system. Moreover, we show that the…
This paper addresses the sensitivity analysis for hybrid systems with discontinuous (jumping) state trajectories. We consider state-triggered jumps in the state evolution, potentially accompanied by mode switching in the control vector…
Multibody dynamics simulations are currently widely accepted as valuable means for dynamic performance analysis of mechanical systems. The evolution of theoretical and computational aspects of the multibody dynamics discipline make it…
We introduce a real-time identification method for discrete-time state-dependent switching systems in both the input--output and state-space domains. In particular, we design a system of adaptive algorithms running in two timescales; a…
We define discrete Hamiltonian systems in the framework of discrete embeddings. An explicit comparison with previous attempts is given. We then solve the discrete Helmholtz's inverse problem for the discrete calculus of variation in the…