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In this work, we study fast time scale dynamic interactions between inverters, synchronous machines, and transmission lines. The overlapping time scales between inverter controls and electromagnetic phenomena idfentified in recent years has…
In this paper we study the global dynamics of the inverted spherical pendulum with a vertically vibrating suspension point in the presence of an external horizontal periodic force field. We do not assume that this force field is weak or…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
We consider control-constrained linear-quadratic optimal control problems on evolving surfaces. In order to formulate well-posed problems, we prove existence and uniqueness of weak solutions for the state equation, in the sense of…
Forthcoming applications concerning humanoid robots may involve physical interaction between the robot and a dynamic environment. In such scenario, classical balancing and walking controllers that neglect the environment dynamics may not be…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
This paper establishes a general framework for describing hybrid dynamical systems which is particularly suitable for numerical simulation. In this context, the data structures used to describe the sets and functions which comprise the…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
In recent papers by the authors (S.~Motonaga and K.~Yagasaki, Obstructions to integrability of nearly integrable dynamical systems near regular level sets, submitted for publication, and K.~Yagasaki, Nonintegrability of nearly integrable…
We present a new solution for fundamental problems in nonlinear dynamical systems: finding, verifying, and stabilizing cycles. The solution we propose consists of a new control method based on mixing previous states of the system (or the…
We study a class of elastic systems described by a (hyperbolic) partial differential equation. Our working example is the equation of a vibrating string subject to linear disturbance. The main goal is to establish conditions for…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
It is shown that an internal control based on a moving indicator function is able to stabilize the state of parabolic equations evolving in rectangular domains. For proving the stabilizability result, we start with a control obtained from…
The model we consider consists in a double pendulum set, where the pivot points are free to shift along a horizontal line. Moreover, the two pendula are coupled by means of a spring whose extremities connect two points of each pendulum, at…
The pendulum, in the presence of linear dissipation and a constant torque, is a non-integrable, nonlinear differential equation. In this paper, using the idea of rotated vector fields, derives the relation between the applied force $\beta$…
The prepared doctoral dissertation focuses on studying dynamics of systems composed of magnetic pendulums subjected to a non-stationary magnetic field. A magnetic pendulum is a physical pendulum with a magnet attached to its end and is…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
Learning robot tasks or controllers using deep reinforcement learning has been proven effective in simulations. Learning in simulation has several advantages. For example, one can fully control the simulated environment, including halting…
Design of robots at the small scale is a trial-and-error based process, which is costly and time-consuming. There are few dynamic simulation tools available to accurately predict the motion or performance of untethered microrobots as they…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…