Related papers: Stability of fixed points in an approximate soluti…
This paper deals with the stability analysis of a mass-spring system subject to friction using Lyapunov-based arguments. As the described system presents a stick-slip phenomenon, the mass may then periodically sticks to the ground. The…
In this paper we consider a mathematical model which describes the equilibrium of two elastic rods attached to a nonlinear spring. We derive the variational formulation of the model which is in the form of an elliptic quasivariational…
A mathematical model of a simply supported Euler-Bernoulli beam with attached spring-mass system is considered. The model is controlled by distributed piezo actuators and lumped force. We address the issue of asymptotic behavior of…
Bipedal locomotion is a phenomenon that still eludes a fundamental and concise mathematical understanding. Conceptual models that capture some relevant aspects of the process exist but their full explanatory power is not yet exhausted. In…
This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with…
The normal and the inverted pendulum continue to be one of the main physical models and metaphors in science. The inverted pendulum is also a classic study case in control theory. In this paper we consider a special demonstration version of…
A long-standing argument in model-based control of locomotion is about the level of complexity that a model should have to define a behavior such as running. Even though goldilocks model based on biomechanical evidence is often sought, it…
This paper considers continuously differentiable functions of two vector variables that have (possibly a continuum of) min-max saddle points. We study the asymptotic convergence properties of the associated saddle-point dynamics…
Discontinuous dynamical systems with grazing solutions are discussed. The group property, continuation of solutions, continuity and smoothness of motions are thoroughly analyzed. A variational system around a grazing solution which depends…
The dynamical systems of planet-belt interaction are studied by the fixed-point analysis and the bifurcation of solutions on the parameter space is discussed. For most cases, our analytical and numerical results show that the locations of…
Dynamical systems studies of differential equations often focus on the behavior of solutions near critical points and on invariant manifolds, to elucidate the organization of the associated flow. In addition, effective methods, such as the…
We introduce a new class of asymptotic contractions that employs two quasi-metrics defined directly in terms of the underlying mapping. The contraction condition compares these two quantities via a sequence of bounding functions that…
This paper investigates the global stability and the global asymptotic stability independent of the sizes of the delays of linear time-varying Caputo fractional dynamic systems of real fractional order possessing internal point delays. The…
Actin growth is a fundamental biophysical process and it is, at the same time, a prototypical example of diffusion-mediated surface growth. We formulate a coupled chemo-mechanical, one-dimensional growth model encompassing both material…
We consider a kinetic model for a system of two species of particles interacting through a longrange repulsive potential and a reservoir at given temperature. The model is described by a set of two coupled Vlasov-Fokker-Plank equations. The…
In the area of bipedal locomotion, the spring loaded inverted pendulum (SLIP) model has been proposed as a unified framework to explain the dynamics of a wide variety of gaits. In this paper, we present a novel analysis of the mathematical…
Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite…
We discuss the equilibrium conditions for a body made of two homogeneous components separated by oblate spheroidal surfaces and in relative motion. While exact solutions are not permitted for rigid rotation (unless a specific ambient…
Decay to asymptotic steady state in one-dimensional logistic-like mappings is characterized by considering a phenomenological description supported by numerical simulations and confirmed by a theoretical description. As the control…
This study presents a theoretical framework for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic apex states. Based on the prismatic inverted pendulum model, we formulate a hybrid…