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Inertial effects in fluctuations of the work to sustain a system in a nonequilibrium steady state are discussed for a dragged massive Brownian particle model using a path integral approach. We calculate the work distribution function in the…
Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…
This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…
We show that the static friction force which must be overcome to render a sticking contact sliding is reduced if an external torque is also exerted. As a test system we study a planar disk lying on horizontal flat surface. We perform…
We present an experimental investigation of the non stationary frictional properties of multicontact interfaces between rough elastomers and rough hard glass at low velocities (<= 200 mu m s^{-1}). These systems, for which the deformation…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
A two-dimensional \underline{Frenkel-Kontorova model} under a steady external force is used to study the nonlinear sliding friction between flat macroscopic surfaces with a lubricant layer in between. The nonequilibrium properties of the…
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
In this contribution, typical friction driven structures are summarized and presented considering the mechanical structures and operation principles of different types of piezoelectric motors. A two degree-of-freedom dynamic model with one…
This study investigates the dynamics of a magnetic pendulum under time-varying magnetic excitation with a position-dependent phase. The system exhibits complex chaotic and regular dynamics, validated through simulations and experiments. The…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled…
We develop a theoretical description for mechanically stable frictional packings in terms of the difference between the total number of contacts required for isostatic packings of frictionless disks and the number of contacts in frictional…
Liquid-solid phase transition and the change of the frictional force of a system with two hard spheres in a two-dimensional rectangular box are discussed. Under controlling the pressure or the supply of energy from the wall, the solid like…
We study a model of rolling particles subject to stochastic fluctuations, which may be relevant in systems of nano- or micro-scale particles where rolling is an approximation for strong static friction. We consider the simplest possible…
The prepared doctoral dissertation focuses on studying dynamics of systems composed of magnetic pendulums subjected to a non-stationary magnetic field. A magnetic pendulum is a physical pendulum with a magnet attached to its end and is…
In this paper, numerical estimation of frictional torques is carried out of a rotary elastic disc on a hard and rough surface under different rotating conditions. A one dimensional spring- mass rotary system is numerically solved under the…
The concept of friction-induced brake vibrations, commonly known as judder, is investigated. Judder vibration is based on the class of geometrically induced or kinematic constraint instability. After presenting the modal coupling mechanism…