Related papers: The Experimental Multi-Arm Pendulum on a Cart: A B…
We have designed, built and operated a physical pendulum which allows one to demonstrate experimentally the behaviour of the pendulum under any equation of motion for such a device for any initial conditions. All parameters in the equation…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
Robust control theory studies the effect of noise, disturbances, and other uncertainty on system performance. Despite growing recognition across science and engineering that robustness and efficiency tradeoffs dominate the evolution and…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
The efficient way to transfer input potential energy to the kinetic energy of a racket or bat was analyzed by two coupled harmonic triple pendulums. We find the most efficient way to transfer energy based on the kinetic chain process. Using…
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like…
A low-dimensional dynamical system is observed in an experiment as a high-dimensional signal; for example, a video of a chaotic pendulums system. Assuming that we know the dynamical model up to some unknown parameters, can we estimate the…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
Chaos is an active research subject in the fields of science in recent years. it is a complex and an erratic behavior that is possible in very simple systems. in the present day, the chaotic behavior can be observed in experiments. Many…
We study in this paper the behavior of a periodically driven nonlinear mechanical system. Bifurcation diagrams are found which locate regions of quasiperiodic, periodic and chaotic behavior within the parameter space of the system. We also…
A physical pendulum with variable point of suspension (and, as an outcome, variable inertia moment) is experimentally analysed. In particular, the period of the small oscillations as a function of position of the suspension point is…
In this work we seek for an approach to integrate safety in the learning process that relies on a partly known state-space model of the system and regards the unknown dynamics as an additive bounded disturbance. We introduce a framework for…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
We present a technique to control chaos in Hamiltonian systems which are close to integrable. By adding a small and simple control term to the perturbation, the system becomes more regular than the original one. We apply this technique to a…
We present analytical and numerical results on integrability and transition to chaotic motion for a generalized Ziegler pendulum, a double pendulum subject to an angular elastic potential and a follower force. Several variants of the…