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The study of deterministic chaos continues to be one of the important problems in the field of nonlinear dynamics. Interest in the study of chaos exists both in low-dimensional dynamical systems and in large ensembles of coupled…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…
The behavior of heterogeneous multi-agent systems is studied when the coupling matrices are possibly all different and/or singular, that is, its rank is less than the system dimension. Rank-deficient coupling allows exchange of limited…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…
This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…
We uncover a dynamical entanglement transition in a monitored quantum system that is heralded by a local order parameter. Classically, chaotic systems can be stochastically controlled onto unstable periodic orbits and exhibit controlled and…
Swing arms have an irreplaceable role in promoting highly dynamic locomotion on bipedal robots by a larger angular momentum control space from the viewpoint of biomechanics. Few bipedal robots utilize swing arms and its redundancy…
We introduce a two-dimensional discrete-time dynamical system which represents the evolution of an angle and angular velocity. While the angle evolves by a fixed amount in every step, the evolution of the angular velocity is governed by a…
We study quantum chaos for systems with more than one degree of freedom, for which we present an analysis of the dynamics of entanglement. Our analysis explains the main features of entanglement dynamics and identifies entanglement-based…
We present three versions of a pendulum lab activity to explore how theoretical commitments, motivations, and aspirations reflect in curriculum design. In earlier work, Boudreaux & Elby (2020) discussed how different theoretical…
Self-balancing robot is based on the principle of Inverted pendulum, which is a two-wheel vehicle balances itself up in the vertical position with reference to the ground. It consists of both hardware and software implementation. Mechanical…
This paper proposes a friction model parameter identification routine that can work with highly nonlinear and chaotic systems. The chosen system for this study is a passively-actuated tilted Furuta pendulum, which is known to have a highly…
A Swinging Atwood Machine (SAM) is built and some experimental results concerning its dynamic behaviour are presented. Experiments clearly show that pulleys play a role in the motion of the pendulum, since they can rotate and have…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Understanding pedestrian dynamics and the interaction of pedestrians with their environment is crucial to the safe and comfortable design of pedestrian facilities. Experiments offer the opportunity to explore the influence of individual…
We demonstrate the presence of chaos in stochastic simulations that are widely used to study biodiversity in nature. The investigation deals with a set of three distinct species that evolve according to the standard rules of mobility,…
Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Dynamic behavior of a weightless rod with a point mass sliding along the rod axis according to periodic law is studied. This is the pendulum with periodically varying length which is also treated as a simple model of child's swing.…