Related papers: Orientation Control of the Bouncing Ball
We describe an experiment dedicated to the study of the trajectories of a ball bouncing randomly on a vibrating plate. The system was originally used, considering a sinusoidal vibration, to illustrate period doubling and the route to chaos.…
In an optimal visiting problem, we want to control a trajectory that has to pass as close as possible to a collection of target points or regions. We introduce a hybrid control-based approach for the classic problem where the trajectory can…
Suspensions of rodlike objects in a liquid are encountered in many areas of science and technology and the need to orientate them is extremely important to enhance or inhibit certain chemical reactions between them, other chemicals or with…
The dynamics of a beam held on a horizontal frame by springs and bouncing off a step is described by a separable two degrees of freedom Hamiltonian system with impacts that respect, point wise, the separability symmetry. The energy in each…
Inspired by the turf-ball interaction in golf, this paper seeks to understand the bounce of a ball that can be modelled as a rigid sphere and the surface as supplying an elasto-plastic contact force in addition to Coulomb friction. A…
Soliton dynamics in a large variety of longitudinally modulated lattices are studied in terms of phase space analysis for an effective particle approach and direct numerical simulations. Complex soliton dynamics are shown to depend strongly…
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…
Spatial diffusion of particles in periodic potential models has provided a good framework for studying the role of chaos in global properties of classical systems. Here a bidimensional "soft" billiard, classically modeled from an optical…
We study the dynamics of a bouncing coin whose motion is restricted to the two-dimensional plane. Such coin model is equivalent to the system of two equal masses connected by a rigid rod, making elastic collisions with a flat boundary. We…
This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…
One major objective of controlling classical chaotic dynamical systems is exploiting the system's extreme sensitivity to initial conditions in order to arrive at a predetermined target state. In a recent letter [Phys.~Rev.~Lett. 130, 020201…
Hybrid dynamical systems are systems which posses both continuous and discrete transitions. Assuming that the discrete transitions (resets) occur a finite number of times, the optimal control problem can be solved by gluing together the…
We consider time-dependence of dynamical transport, following a recent study of the stadium billiard in which classical transmission and reflection probabilities were shown to exhibit exponential or algebraic decay depending on the choice…
We study a simple model of a bouncing ball that takes explicitely into account the elastic deformability of the body and the energy dissipation due to internal friction. We show that this model is not subject to the problem of inelastic…
The problem of nonprehensile manipulation of a stick in three-dimensional space using intermittent impulsive forces is considered. The objective is to juggle the stick between a sequence of configurations that are rotationally symmetric…
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…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
We consider the system of a two ball automatic dynamic balancer attached to a rotating disc with nonconstant angular velocity. We directly compare the scenario of constant angular velocity with that when the acceleration of the rotor is…
Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…