Related papers: Singularity-Free Inverse Dynamics for Underactuate…
This paper investigates a class of Lagrangian control systems with $n$ degrees-of-freedom (DOF) and n-1 actuators, assuming that $n-1$ virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds.…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
We derive a collisionless kinetic theory for an ensemble of molecules undergoing nonholonomic rolling dynamics. We demonstrate that the existence of nonholonomic constraints leads to problems in generalizing the standard methods of…
This work presents a control-oriented structural design approach for a 2-DOF underactuated mechanical system, with the purpose of generating an optimal oscillatory behavior of the end-effector. To achieve the desired periodic motion, we…
We consider ultracold atoms trapped in a toroidal trap with an azimuthal lattice for utility as a macroscopic simulator of quantum optics phenomena. We examine the dynamics induced by the adiabatic introduction of the lattice that serves to…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…
We analyze networked heterogeneous nonlinear systems, with diffusive coupling and interconnected over a generic static directed graph. Due to the network's hetereogeneity, complete synchronization is impossible, in general, but an emergent…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Marginal LTB models with corrections from loop quantum gravity have recently been studied with an emphasis on potential singularity resolution. This paper corroborates and extends the analysis in two regards: (i) the whole class of LTB…
In this work, we investigate a Lagrangian model describing a particle constrained to move along non-degenerate conic sections, parameterized by the orbital eccentricity \( e \). In the non-relativistic regime, we apply the Dirac--Bergmann…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with…
Here I present a new discrete model of quantum mechanics for relativistic 1-electron systems, in which particle movement is described by a directed space-time graph with attached 4-spinors, but without any continuous wave functions. These…
A rigid body, with an interior cavity entirely filled with a Navier-Stokes liquid, moves in absence of external torques relative to the center of mass of the coupled system body-liquid (inertial motions). The only steady-state motions…
The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear…
We study quantum dynamics of the rotationally driven Dicke model where the collective spin is rotated around the z axis with a finite velocity. In the absence of the rotating wave approximation we observe that for several physically…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
The rotating frame is considered in quantum mechanics on the basis of the position dependent boost relating this frame to the non rotating inertial frame. We derive the Sagnac phase shift and the spin coupling with the rotation in the non…