Related papers: Control and stabilization of geometrically exact b…
Elastic deformation due to embedded fluidic networks is currently studied in the context of soft-actuators and soft-robotic applications. In this work, we analyze interaction between the elastic deflection of a slender beam and viscous flow…
A novel geometrically exact model of the spatially curved Bernoulli-Euler beam is developed. The formulation utilizes the Frenet-Serret frame as the reference for updating the orientation of a cross section. The weak form is consistently…
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…
We consider a pointwise stabilization problem for a coupled wave and plate equations. We prove under rather general assumptions, that such systems can stabilized so as to have arbitrarily high decay rates and are exactly controllable. We…
In this work, we propose a geometric framework for analyzing mechanical manipulation, for instance, by a robotic agent. Under the assumption of conservative forces and quasi-static manipulation, we use energy methods to derive a metric. In…
Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between…
We consider a control system describing the interaction of water waves with a partially immersed rigid body constraint to move only in the vertical direction. The fluid is modeled by the shallow water equations. The control signal is a…
This work is focused on a nonlinear equation describing the oscillations of an extensible viscoelastic beam with fixed ends, subject to distributed elastic external force. For a general axial load $\beta$, the existence of a finite/infinite…
This work addresses an optimal control problem constrained by a degenerate kinetic equation of parabolic-hyperbolic type. Using a hypocoercivity framework we establish the well-posedness of the problem and demonstrate that the optimal…
Experimental analysis of the mechanics of a deformable object, and particularly its stability, requires repetitive testing and, depending on the complexity of the object's shape, a testing setup that can manipulate many degrees of freedom…
There is a tendency to write the equations of general relativity as a first order symmetric system of time dependent partial differential equations. However, for numerical reasons, it might be advantageous to use a second order formulation…
This work studies a variational formulation and numerical solution of a regularized morphoelasticity problem of shape evolution. The foundation of our analysis is based on the governing equations of linear elasticity, extended to account…
We study the dynamics of an inclined tensioned, heavy cable traveling with a constant speed in the vertical plane. The cable is modeled as a beam resisting bending and shear. The governing equation for the transverse in-plane vibrations of…
We study the boundary controllability problem for a multilayer Rao-Nakra sandwich beam. This beam model consists of a Rayleigh beam coupled with a number of wave equations. We consider all combinations of clamped and hinged boundary…
We consider two cantilevered beams undergoing frictional impacts at the free end. The beams are designed to be of similar geometry so that they have distinct but close natural frequencies. Under harmonic base excitation near the primary…
In many problems in optimal control, one seeks to minimise an objective function subject to constraints on the velocity of the system. Imposing these constraints directly -- the ``hard-constrained'' approach -- is often analytically and…
Consider a non-uniform Euler-Bernoulli beam with a tip-mass at one end and a cantilever joint at the other end. The cantilever joint is not fixed and can itself be moved along an axis perpendicular to the beam. The position of the…
We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
We analyze how gauge fixing, which is required by any practical continuum approach to gauge systems, can interfere with the physical symmetries of such systems. In principle, the gauge fixing procedure, which deals with the (unphysical)…