Related papers: Planar Symmetric Juggling of a Devil-Stick
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
Nonlinear stabilization using control contraction metric (CCM) method usually involves an online optimization problem to compute a minimal geodesic (a shortest path) between pair of states, which is not desirable for real-time applications.…
Time reversal in quantum or classical systems described by an Hermitian Hamiltonian is a physically allowed process, which requires in principle inverting the sign of the Hamiltonian. Here we consider the problem of time reversal of a…
We consider the shape-topological control of a singularly perturbed variational inequality. The geometry-dependent state problem that we address in this paper concerns a heterogeneous medium with a micro-object (defect) and a macro-object…
This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
The minimum-time control problem consists in finding a control policy that will drive a given dynamic system from a given initial state to a given target state (or a set of states) as quickly as possible. This is a well-known challenging…
We consider disordered solids in which the microscopic elements can deform plastically in response to stresses on them. We show that by driving the system periodically, this plasticity can be exploited to train in desired elastic…
We investigate an oscillator linearly coupled with a one-dimensional Ising system. The coupling gives rise to drastic changes both in the oscillator statics and dynamics. Firstly, there appears a second order phase transition, with the…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
We numerically study a directed small-world network consisting of attractively coupled, identical phase oscillators. While complete synchronization is always stable, it is not always reachable from random initial conditions. Depending on…
The 2-step staggered (also called leap-frog) time discretisation of linear 2nd-order Hamiltonian systems (typically linear elastodynamics in a stress-velocity form) is extended for a 3-step staggered discretisation applicable for systems…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
We propose a method of manipulating selectively the symmetric Dicke subspace in the internal degrees of freedom of N trapped ions. We show that the direct access to ionic-motional subspaces, based on a suitable tuning of motion-dependent AC…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
The paper focuses on the stiffness modeling of a new type of compliant manipulator and its non-linear behavior while interacting with the environment. The manipulator under study is a serial mechanical structure composed of dualtriangle…
A perturbation method is presented which can be applied to the description of a wide range of physical problems that deal with dynamics of dipolar coupled spins in solids. The method is based on expansion of the operator exponent in a…
Run-and-tumble particles constitute one of the simplest models of self-propelled active matter, and provide an ideal playground to the understanding of out-of-equilibrium systems. We consider an idealized setup where one such particle is…
When facing a task of balancing a dynamic system near an unstable equilibrium, humans often adopt intermittent control strategy: instead of continuously controlling the system, they repeatedly switch the control on and off. Paradigmatic…
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher…