Related papers: Sliding Motions on SO(3), Sliding Subgroups
Different deformations of the Poincare symmetries have been identified for various non-commutative spaces (e.g. $\kappa$-Minkowski, $sl(2,R)$, Moyal). We present here the deformation of the Poincare symmetries related to Snyder space-time.…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
We show that any globally asymptotically controllable system on any smooth manifold can be globally stabilized by a state feedback. Since we allow discontinuous feedbacks, we interpret the solutions of our systems in the ``sample and hold''…
We study numerically stick slip motions in a model of blocks and springs being pulled slowly. The sliding friction is assumed to change dynamically with a state variable. The transition from steady sliding to stick-slip is subcritical in a…
We study the rolling of the Chaplygin ball in $\mathbb R^n$ over a fixed $(n-1)$--dimensional sphere without slipping and without slipping and twisting. The problems can be naturally considered within a framework of appropriate…
A huge number of technological and biological systems involves the lubricated contact between rough surfaces of soft solids in relative accelerated motion. Examples include dynamical rubber seals and the human joints. In this study we…
A mechanical system consisting of an elastic beam under harmonic excitation and an attached sliding body is investigated. Recent experimental observations suggest that the system passively (self-)adapts the axial location of the slider to…
Atoms at liquid metal surfaces are known to form layers parallel to the surface. We analyze the two-dimensional arrangement of atoms within such layers at the surface of liquid sodium, using ab initio molecular dynamics (MD) simulations…
We present a study of sliding friction for rigid triangular steel sliders on soft rubber substrates under both lubricated and dry conditions. For rubber surfaces lubricated with a thin film of silicone oil, the measured sliding friction at…
The stability for all generic equilibria of the Lie-Poisson dynamics of the $\mathfrak{so}(4)$ rigid body dynamics is completely determined. It is shown that for the generalized rigid body certain Cartan subalgebras (called of coordinate…
The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
We consider the motion of a fluid-immersed negatively buoyant particle in the vicinity of a thin compressible elastic wall, a situation that arises in a variety of technological and natural settings. We use scaling arguments to establish…
In this paper we stated a condition for the controllability of discrete-time linear systems for the case when the Lie group has finite semisimple center and provided a example in the Lie group $SL_2(\mathbb{R})$.
A nonsmooth extension of the speed-gradient algorithms in finite form is proposed. The conditions ensuring control goal (convergence of the goal function to zero) are established. A new algorithm is applied to almost global stabilization of…
A beam-slider system is considered whose passive self-adaption relies on an intricate locomotion process involving both frictional and unilateral contact. The system also exploits geometric nonlinearity to achieve broadband efficacy. The…
If a finite group acts topologically, faithfully and orientation preservingly on R^3, then it is isomorphic to a subgroup of SO(3).
We use a free energy lattice Boltzmann approach to investigate numerically the dynamics of drops moving across superhydrophobic surfaces. The surfaces comprise a regular array of posts small compared to the drop size. For drops suspended on…