Related papers: Orientation Control of the Bouncing Ball
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
Several scenarios used in teaching feature a rolling motion with slipping that transitions to one without through friction with the ground. We summarise these transitions by introducing an unknown impulse that is transferred to the ground.…
Evolutionary motions in a bouncing ball system consisting of a ball having a free fall in the Earth's gravitational field have been studied systematically. Because of nonlinear form of the equations of motion, evolutions show chaos for…
The main objective of this paper is to show that two asymptotically stable steady states which belong to an analytic path of asymptotically stable steady states can be gradually transferred one to the other by successive changes of the…
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…
This paper presents bilateral control laws for one-dimensional(1-D) linear 2x2 hyperbolic first-order systems (with spatially varying coefficients). Bilateral control means there are two actuators at each end of the domain. This situation…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
The rotating saddle not only is an interesting system that is able to trap a ball near its saddle point, but can also intuitively illustrate the operating principles of quadrupole ion traps in modern physics. Unlike the conventional models…
We study a hybrid control system in which both discrete and continuous controls are involved. The discrete controls act on the system at a given set interface. The state of the system is changed discontinuously when the trajectory hits…
Because splashing is such a violent process, one might naively expect that neither the direction of droplet emission nor the amount of ejected material can be controlled with any precision. Even though it is observed countless times in the…
The non-stationary dynamics of a bouncing ball, comprising of both periodic as well as chaotic behavior, is studied through wavelet transform. The multi-scale characterization of the time series displays clear signature of self-similarity,…
Control schemes for dynamical systems typically involve stabilizing unstable periodic orbits. In this paper we introduce a new paradigm of control that involves `trapping' the dynamics arbitrarily close to any desired trajectory. This is…
The buoyancy-driven dynamics of a pair of gas bubbles released in line is investigated numerically, focusing on highly inertial conditions under which isolated bubbles follow non-straight paths. In an early stage, the second bubble always…
Putting several hard balls into a two-dimensional bowl can form a very basic two-dimensional model of hard-ball system. When the two-dimensional bowl has a parallel-rotation at a uniform speed around a center, when the number of balls is…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
We uncover a dynamical entanglement transition in a monitored quantum system that is heralded by a local order parameter. Classically, chaotic systems can be stochastically controlled onto unstable periodic orbits and exhibit controlled and…
Droplets bouncing on a vibrated liquid bath open ways to methods of manipulating droplets, creating double emulsion and performing pilot wave model experiments. In this work, we focus on the role of the droplet deformations in the vertical…
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…