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The paper presents a new observer for tilt estimation of a 3-D non-rigid pendulum. The system can be seen as a multibody robot attached to the environment with a ball joint. There is no sensor for the joint position of the sensor. The…
This article addresses the problem of state observer design for continuous-time linear positive networked systems. Considering the bandwidth constraint in the communication network, an event-measurement-based positive observer design is…
Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain's principle, the model incorporates both longitudinal and lateral…
Friction is one of the fundamental issues in physics, mechanics and material science with lots of practical applications. However, the understanding of macroscopic friction phenomena from microscopic aspect is still on the way. In this…
The aim of this paper is to present the application of an approach to study contraction theory recently developed for piecewise smooth and switched systems. The approach that can be used to analyze incremental stability properties of…
The simulation of inelastic effects in flexible slender technical devices has become of increasing interest in the past years. Different approaches have been considered depending on the effects relevant for the specific application.…
We have studied the fluctuation (noise) in the position of sliding blocks under constant driving forces on different substrate surfaces. The experimental data are complemented by simulations using a simple spring-block model where the…
This paper shows the study of interesting mechanical properties of Wilberforce pendulum. Analyzing qualitatively of the pendulum, it is able to know how the phenomenon occurs. By setting of the quantitative model, equation of the motion is…
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…
This study numerically investigated the friction of viscoelastic objects with grooves. A 3D viscoelastic block with grooves on a rigid substrate is slowly pushed from the lateral side under uniform pressure on the top surface. The local…
This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…
We present a modified model based on shear rate and aging time dependent static friction between a soft solid such as gelatin hydrogel and a hard surface for instance glass surface. Earlier the model for static friction (Juvekar and Singh,…
Parametric oscillators are examples of externally driven systems that can exhibit two stable states with opposite phase depending on the initial conditions. In this work, we propose to study what happens when the external forcing is…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
Sliding friction between two dry surfaces is reasonably described by the speed-independent Amonton-Coulomb friction force law. However, there are many situations where the frictional contact points between two surfaces are "active" and may…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
We use numerical simulations to study the effect of particle friction on suspension flows of non-Brownian hard particles. By systematically varying the microscopic friction coefficient $\mu_p$ and the viscous number $J$, we build a phase…
Dynamical frictional phenomena are studied theoretically in a two-chain model with incommensurate structure. A perturbation theory with respect to the interchain interaction reveals the contributions from phonons excited in each chain to…
We consider a nonlinear pendulum whose suspension point undergoes stochastic vibrations in its plane of motion. Stochastic vibrations are constructed by stochastic differential equations with random periodic solutions. Averaging over these…
We perform extended numerical simulation of the dynamics of dry friction, based on a model derived from the phenomenological description proposed by T. Baumberger et al.. In the case of small deviation from the steady sliding motion, the…