Related papers: Orientation Control of the Bouncing Ball

In this paper we provide optimal control based strategies to explore the dynamic capabilities of a single-track car model which includes tire models and longitudinal load transfer. Using an explicit formulation of the holonomic constraints…

Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…

We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…

This paper focuses on a model for opinion dynamics, where the influence weights of agents evolve in time. We formulate a control problem of consensus type, in which the objective is to drive all agents to a final target point under suitable…

We investigate the dynamics of a dimer bouncing on a vertically oscillated plate. The dimer, composed of two spheres rigidly connected by a light rod, exhibits several modes depending on initial and driving conditions. The first excited…

Robust control theory studies the effect of noise, disturbances, and other uncertainty on system performance. Despite growing recognition across science and engineering that robustness and efficiency tradeoffs dominate the evolution and…

In this paper, We study the problem of learning a controllable representation for high-dimensional observations of dynamical systems. Specifically, we consider a situation where there are multiple sets of observations of dynamical systems…

We consider output trajectory tracking for a class of uncertain nonlinear systems whose internal dynamics may be modelled by infinite-dimensional systems which are bounded-input, bounded-output stable. We describe under which conditions…

The horizontal dynamics of a bouncing ball interacting with an irregular surface is investigated and is found to demonstrate behavior analogous to a random walk. Its stochastic character is substantiated by the calculation of a permutation…

This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…

We consider the motion of a rigid body due to the pressure of a surrounded two-dimensional irrotational perfect incompressible fluid, the whole system being confined in a bounded domain with an impermeable condition on a part of the…

Change of direction is a key element of player movement in American football, yet there remains a lack of objective approaches for in-game performance evaluation of this athletic trait. Using tracking data, we propose a Bayesian…

Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…

The dynamics of a bouncing ball model under the influence of dissipation is investigated by using a two dimensional nonlinear mapping. When high dissipation is considered, the dynamics evolves to different attractors. The evolution of the…

If a tennis ball is held above a basket ball with their centers vertically aligned, and the balls are released to collide with the floor, the tennis ball may rebound at a surprisingly high speed. We show in this article that the simple…

We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…

We consider systems of "pinned balls," i.e., balls that have fixed positions and pseudo-velocities. Pseudo-velocities change according to the same rules as those for velocities of totally elastic collisions between moving balls. The times…

This paper considers the optimal control problem of an extended spring-loaded inverted pendulum (SLIP) model with two additional actuators for active leg length and hip torque modulation. These additional features arise naturally in…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

The problem of a disc and a ball rolling on a horizontal plane without slipping is considered. Differential constrained equations are shown to be integrated when the trajectory of the point of contact is taken in a form of the natural…