Related papers: Trajectory tracing in figure skating
Observations have long associated ice streams with the presence of meltwater at the bed. More recently, theoretical models have been able to reproduce ice-stream behaviour as a consequence of the coupled dynamics of ice and subglacial…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…
The rolling of a dynamically balanced ball on a horizontal rough table without slipping was described by Chaplygin using Abel quadratures. We discuss integrable discretizations and deformations of this nonholonomic system using the same…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
Dynamical scaling in a two-dimensional lattice model of chaotic maps, in contact with a thermal bath, is numerically studied. The model here proposed is equivalent to a conserved Ising model with coupligs which fluctuate over the same time…
A spring-block chain placed on a running conveyor belt is considered for modeling stylized facts observed in the dynamics of stock indexes. Individual stocks are modeled by the blocks, while the stock-stock correlations are introduced via…
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…
Process discovery algorithms automatically extract process models from event logs, but high variability often results in complex and hard-to-understand models. To mitigate this issue, trace clustering techniques group process executions…
We introduce numerical methods for simulating the diffusive motion of rigid bodies of arbitrary shape immersed in a viscous fluid. We parameterize the orientation of the bodies using normalized quaternions, which are numerically robust,…
Trajectories are fundamental to winning in alpine skiing. Tools enabling the analysis of such curves can enhance the training activity and enrich broadcasting content. In this paper, we propose SkiTraVis, an algorithm to visualize the…
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional…
The motion of several plates in an inviscid and incompressible fluid is studied numerically using a vortex sheet model. Two to four plates are initially placed in-line, separated by a specified distance, and actuated in the vertical…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
Empirical models, fitted to data from observations, are often used in natural sciences to describe physical behaviour and support discoveries. However, with more complex models, the regression of parameters quickly becomes insufficient,…
We discuss the applicability of quasilinear-type approximations for a turbulent system with a large range of spatial and temporal scales. We consider a paradigm fluid system of rotating convection with a vertical and horizontal temperature…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
A periodic Kolmogorov type flow is implemented in a lattice gas automaton. For given aspect ratios of the automaton universe and within a range of Reynolds number values, the averaged flow evolves towards a stationary two-dimensional $ABC$…