Related papers: Observer Design for an Inertia Wheel Pendulum with…
We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class.…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
A deterministic theory describing the melting of an ultrathin lubricant film between two atomically smooth solid surfaces has been developed. The lubricant state is described by introducing a parameter of excess volume that arises owing to…
This paper proposes new practical design tools for the robust motion control systems based on disturbance observer (DOB). Although DOB has long been used in several motion control applications, it has insufficient analysis and design tools.…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
A pinned-free beam in axial fluid flow, subjected to feedback-based actuation at the pinned end, is investigated. The actuation may be a moment or a prescribed angle and it is proportional to the state (curvature, slope, or displacement) of…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
We study a frictionless pendulum subject to multiplicative random noise. Because of destructive interference between the angular displacement of the system and the noise term, the energy fluctuations are reduced when the noise has a…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
We present the results of linear stability of a damped coplanar double pendulum and its non-linear motion, when the point of suspension is vibrated sinusoidally in the vertical direction with amplitude $a$ and frequency $\omega $. A double…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…
The static friction between crystalline surfaces separated by a molecularly thin layer of adsorbed molecules is calculated using molecular dynamics simulations. These molecules naturally lead to a finite static friction that is consistent…
We discuss the equation of motion of the driven pendulum and generalize it to arbitrary driving angle. The pendulum will oscillate about a stable angle other than straight down if the drive amplitude and frequency are large enough for a…
A model for harmonic oscillator damping due to the internal friction of solids has been developed, based on considerations of a long period pendulum. The assumption of a complex elastic modulus to describe stress-strain hysteresis in the…
We present a field theoretic model for friction, where the friction coefficient between two surfaces may be calculated based on elastic properties of the surfaces. We assume that the geometry of contact surface is not unusual. We verify…
The present paper is devoted to a theoretical analysis of sliding friction under the influence of oscillations perpendicular to the sliding plane. In contrast to previous works we analyze the influence of the stiffness of the tribological…
Rolling of a small sphere on a solid support is governed by a non-linear friction that is akin to the Coulombic dry fiction. No motion occurs when the external field is weaker than the frictional resistance. However, with the intervention…
In the course of basic physics, more precisely the course of classical mechanics should be understood as clearly as possible the subject of rotational dynamics for students of science and engineering, to have clarity with the issues…
We present a versatile experimental apparatus for exploring rotational motion through the interplay between the moment of inertia, torque and rotational kinetic energy. The heart of this experiment uses a 3D printed wheel along with easily…