Related papers: Orientation Control of the Bouncing Ball

This paper studies the phase balancing of a two and three-agent system where the agents are coupled through heterogeneous controller gains. Balancing refers to the situation in which the movement of agents causes the position of their…

We numerically study a simple sliding system: a rigid mass pulled by a spring with a strong in-plane stiffness anisotropy and a small misalignment angle. Simulations show that the apparent stick phase appearing in this system is in reality…

In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…

We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…

In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…

Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory was applied to these systems and a hybrid version of Pontryagin's maximum principle was presented.…

There are numerous ways to control objects in the Stokes regime, with microscale examples ranging from the use of optical tweezers to the application of external magnetic fields. In contrast, there are relatively few explorations of…

Advancing the dynamic loco-manipulation capabilities of quadruped robots in complex terrains is crucial for performing diverse tasks. Specifically, dynamic ball manipulation in rugged environments presents two key challenges. The first is…

In this paper we consider a viscoelastic plate (linear viscoelasticity of the Maxwell-Boltzmann type) and we compare its controllability properties with the (known) controllability of a purely elastic plate (the control acts on the boundary…

This paper investigates the exact controllability problem for multi-dimensional stochastic first-order symmetric hyperbolic systems with control inputs acting in two distinct ways: an internal control applied to the diffusion term and a…

A phenomenological model of human posture control is posited. The dynamics are modelled as an elastically pinned polymer under the influence of noise. The model accurately reproduces the two-point correlation functions of experimental…

We investigate the stabilizability of discrete-time linear switched systems, when the sole control action of the controller is the switching signal, and when the controller has access to the state of the system in real time. Despite their…

Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…

A system of two masses connected with a weightless rod (called dumbbell in this paper) interacting with a flat boundary is considered. The sharp bound on the number of collisions with the boundary is found using billiard techniques. In…

Dynamical properties are studied for escaping particles, injected through a hole in an oval billiard. The dynamics is considered for both static and periodically moving boundaries. For the static boundary, two different decays for the…

We consider optimal control problems for partial differential equations where the controls take binary values but vary over the time horizon, they can thus be seen as dynamic switches. The switching patterns may be subject to combinatorial…

In this paper, we consider a class of stochastic impulse control problem when there is a fixed delay $\Delta$ between the decision and execution times. The dynamics of the controlled system between two impulses is an arbitrary adapted…

The paper contributes towards the development of a unified control approach for longitudinal aircraft dynamics with large flight envelopes. Prior to the control design, we analyze the existence and the uniqueness of the equilibrium…

We propose a minimal off-lattice model of living organisms where just a very few dynamical rules of growth are assumed. The stable coexistence of many clusters is detected when we replace the global restriction rule by a locally applied…

Flight is a complicated task at small scales in part due to the ubiquitous unsteady air which contains it. Flying organisms deal with these difficulties using active and passive control mechanisms to steer their body motion. Body attitudes…