Related papers: Observer Design for an Inertia Wheel Pendulum with…
Wearless friction is investigated in a simple mechanical model called Frenkel-Kontorova-Tomlinson model. We have introduced this model in [Phys. Rev. B, Vol. 53, 7539 (1996)] where the static friction has already been considered. Here the…
We present a minimal quasistatic 1D model describing the kinematics of the transition from static friction to stick-slip motion of a linear elastic block on a rigid plane. We show how the kinematics of both the precursors to frictional…
We investigate how stabilizer theory can be used for constructing sufficient conditions for entanglement. First, we show how entanglement witnesses can be derived for a given state, provided some stabilizing operators of the state are…
We study the distribution of entanglement between modes of a free scalar field from the perspective of observers in uniform acceleration. We consider a two-mode squeezed state of the field from an inertial perspective, and analytically…
This paper focuses on observer based fault reconstruction for a class of nonlinear uncertain systems with Lipschitz nonlinearities. An adaptive-gain Super-Twisting (STW) observer is developed for observing the system states, where the…
The phenomenon of so-called break-away forces, as maximal actuation forces at which a sticking system begins to slide and thus passes over to a steady (macro) motion, is well known from engineering practice but still less understood in its…
We investigate the dynamics of the pendulum suspended on the forced Duffing oscillator. The detailed bifurcation analysis in two parameter space (amplitude and frequency of excitation) which presents both oscillating and rotating periodic…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
Dry solid friction is often accompanied by force modulations originating from stick-slip instabilities. Here a distinct, quasi-static mechanism is evidenced leading to quasi-periodic force oscillations during sliding contact between an…
The nonlinear damping characteristics of friction wedges in the secondary suspension of a freight bogie are investigated considering unidirectional contact and non-smooth frictional forces. In the proposed MultiBody System model, each wedge…
We develop a theory of static friction by modeling the homogeneous surfaces of contact as being composed of a regular array of compressible elastic smooth microscopic inclines. Static friction is thought of as the resistance due to having…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
The sticking of a soft polystyrene colloidal particle to a planar glass plate was studied by a microrheological technique using an optical tweezer to trap the particle and a piezoelectric-stage to position the plate and to sinusoidally…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…
This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
We study numerically stick slip motions in a model of blocks and springs being pulled slowly. The sliding friction is assumed to change dynamically with a state variable. The transition from steady sliding to stick-slip is subcritical in a…
The motion of an elastic body over a rough surface is simulated in one dimension using Newtonian dynamics. We drive the body by prescribing a constant velocity. We extract the friction force from the work done by the applied force in order…
This paper presents results on the solvability of the observer design problem for general nonlinear triangular systems with inputs, under weak observability assumptions. The local state estimation is exhibited by means of a delayed…