Related papers: Sliding Motions on SO(3), Sliding Subgroups
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
A susceptibility function ${\chi}(L)$ is introduced to quantify some aspects of the intermittent stick-slip dynamics of a rough metallic cylinder of length $L$ on a rough metallic incline submitted to small controlled perturbations and…
Space-times admitting a 3-dimensional Lie group of conformal motions $C_3$ acting on null orbits are studied. Coordinate expressions for the metric and the conformal Killing vectors (CKV) are provided (irrespectively of the matter content)…
We construct an action of a Lie algebra on the homology groups of moduli spaces of stable sheaves on K3 surfaces under some technical conditions. This is a generalization of Nakajima's construction of sl_2-action on the homology groups. In…
In this paper, we discuss the mechanics and planning algorithms to slide an object on a horizontal planar surface via frictional patch contact made with its top surface. Here, we propose an asymmetric dual limit surface model to determine…
We consider the dynamics and symplectic reduction of the 2-body problem on a sphere of arbitrary dimension. It suffices to consider the case for when the sphere is 3-dimensional and where we take the group of symmetries to be $SO(4)$. As…
This paper addresses to Sliding Mode Learning Control (SMLC) of uncertain nonlinear systems with Lyapunov stability analysis. In the control scheme, a conventional control term is used to provide the system stability in compact space while…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
Super hydrophobic surfaces have been the focus of research in the recent years.One of the reasons for this is the self cleaning property of these surfaces which emerges from the ability of the droplets to roll freely over them.However…
This paper addresses the distributed attitude synchronization problem for a network of rigid-body systems on the special orthogonal group SO(3). Each agent measures, in its body frame, its own angular velocity and a set of vectors whose…
Motivated by a number of recent investigations, we define and investigate the various properties of the ruled surfaces depend on three dimensional Lie groups with a bi-variant metric. We give useful results involving the characterizations…
This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…
We show that the well-known formula by Ackermann and Utkin can be generalized to the case of higher-order sliding modes. By interpreting the eigenvalue assignment of the sliding dynamics as a zero-placement problem, the generalization…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is…
We describe a higher dimensional analogue of the Stallings folding sequence for group actions on CAT(0) cube complexes. We use it to give a characterization of quasiconvex subgroups of hyperbolic groups which act properly co-compactly on…
Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…
In this paper, the dynamics of nonholonomic systems on Lie groups with a left-invariant kinetic energy and left-invariant constraints are considered. Equations of motion form a closed system of differential equations on the corresponding…
We consider the motion of a planar rigid body in a potential flow with circulation and subject to a certain nonholonomic constraint. This model is related to the design of underwater vehicles. The equations of motion admit a reduction to a…
We propose a new central synergistic hybrid approach for global exponential stabilization on the Special Orthogonal group SO(3). We introduce a new switching concept relying on a central family of (possibly) non-differentiable potential…