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This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
The fluid-structure interaction between a thin circular disk and its turbulent wake is investigated experimentally and described with a low-order stochastic model. The disk faces a uniform flow at Reynolds number Re=133 000 and can rotate…
We study the stationary state of a one-dimensional kinetic model where a probe particle is driven by an external field E and collides, elastically or inelastically, with a bath of particles at temperature T. We focus on the stationary…
We outline a phenomenological model to assess friction at the interface between two bodies in mutual contact. Although the approach is general, the application inspiring the approach is the Discrete Element Method. The kinematics of the…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
An experiment is proposed which can distinguish between two approaches to the reality of the electric field, and whether it has mechanical properties such as mass and stress. A charged pendulum swings within the field of a much larger…
We study the influence of the forcing on the steady turbulent states of a von K\'arm\'an swirling flow, at constant impeller speed, or at constant torque. We find that the different forcing conditions change the nature of the stability of…
The onset of frictional motion is mediated by rupture-like slip fronts, which nucleate locally and propagate eventually along the entire interface causing global sliding. The static friction coefficient is a macroscopic measure of the…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
We consider a tracer particle on a lattice in the presence of immobile obstacles. Starting from equilibrium, a force pulling on the particle is switched on, driving the system to a new stationary state. We solve for the complete transient…
We present a theoretical analysis of frictional transitions along the Stribeck curve for rough elastic contacts lubricated by a Newtonian fluid. Building on the mean-field framework of Persson and Scaraggi (J. Phys.: Condens. Matter 21…
We introduce a family of entanglement witnesses for continuous variable systems, which rely on the sole assumption that their dynamics is that of coupled harmonic oscillators at the time of the test. Entanglement is inferred from the…
For arbitrary linear time-invariant systems, the existence of a strong functional observer is investigated. Such observer determines, from the available measurement on the plant, an estimate of a function of the state and the input. This…
Intuition tells us that a rolling or spinning sphere will eventually stop due to the presence of friction and other dissipative interactions. The resistance to rolling and spinning/twisting torque that stops a sphere also changes the…
Some dynamical properties of non interacting particles in a bouncer model are described. They move under gravity experiencing collisions with a moving platform. The evolution to steady state is described in two cases for dissipative…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
The coefficient of static friction between solids generally depends on the time they have remained in static contact before the measurement. Such frictional aging is at the origin of the difference between static and dynamic friction…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…