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This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
The linear and nonlinear motions of a damped rigid planar pendulum, driven by vibrating its pivot sinusoidally, are reexamined. The pendulum is known to exhibit periodic, quasiperiodic, and chaotic motions. Floquet analysis identifies…
The dynamic frictional force between solid surfaces in relative motion differs from the static force needed to initiate motion, but this distinction is not usually thought to occur for liquid drops moving on a solid. Recent experiments…
This paper deals with the stability analysis of a mass-spring system subject to friction using Lyapunov-based arguments. As the described system presents a stick-slip phenomenon, the mass may then periodically sticks to the ground. The…
The magnetic dressing phenomenon occurs when spins precessing in a static field (holding field) are subject to an additional, strong, alternating field. It is usually studied when such extra field is homogeneous and oscillates in one…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
We propose an elasto-plastic inspired friction model which incorporates interfacial stiffness. Steady state sliding friction is characterized by a generic nonmonotonic behavior, including both velocity weakening and strengthening branches.…
We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error,…
Amontons' law states that the maximum static friction force on a solid object is proportional to the loading force and is independent of the apparent contact area. This law indicates that the static friction coefficient does not depend on…
We introduce a simplified model of magnetic friction, and investigate its behavior using both numerical and analytical methods. When resistance coefficient $\gamma$ is large, the movement of the system obeys the thermally activated process.…
The classical dynamics of a particle that is driven by a rapidly oscillating potential (with frequency $\omega$) is studied. The motion is separated into a slow part and a fast part that oscillates around the slow part. The motion of the…
The paper deals with the studies of forced impacting oscillator when are taken into account the dry and viscous resistance, as well as the generalized Hertz contact law during an impact. The numerical treatments of mathematical model are…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
We consider an active-passive mechanical pair in which the relative motion of the latter is constrained by the mechanical impact. The system dynamics is described by the previously introduced modeling frameworks of force transition and…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
We propose a modified version of the Tomlinson model for static friction between two chains of beads. We introduce disorder in terms of vacancies in the chain, and distribute the remaining beads in a scale invariant way. For this we utilize…
This study investigates the hydrodynamic drag force on side-by-side flexible blades in a uniform steady current through experimental and theoretical approaches. Four different blade mimics were arranged in side-by-side bunches and tested in…
This paper is concerned with fault estimation in a class of nonlinear fractional order systems using a new super twisting algorithm based second order step by step sliding mode observer. Since the existing sliding mode observers are…
This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…