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Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…
Examples of one-dimensional lattice systems are considered, in which patterns of different spatial scales arise alternately, so that the spatial phase over a full cycle undergo transformation according to expanding circle map that implies…
Dynamical stabilization of an inverted pendulum through vertical movement of the pivot is a well-known counterintuitive phenomenon in classical mechanics. This system is also known as Kapitza pendulum and the stability can be explained with…
The simulation of pedestrian crowd that reflects reality is a major challenge for researches. Several crowd simulation models have been proposed such as cellular automata model, agent-based model, fluid dynamic model, etc. It is important…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
Numerous studies have demonstrated the potential for simple fluid plus particle systems to produce complicated dynamical behavior. In this work, we study a horizontal rotating drum filled with pure glycerol and three large, heavy spheres.…
In the presence of a complex classical dynamics associated with a mixed phase space, a quantum wave function can tunnel between two stable islands through the chaotic sea, an effect that has no classical counterpart. This phenomenon,…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
Learning the dynamics of a physical system wherein an autonomous agent operates is an important task. Often these systems present apparent geometric structures. For instance, the trajectories of a robotic manipulator can be broken down into…
The Painlev\'e paradox is a phenomenon that causes instability in mechanical systems subjects to unilateral constraints. While earlier studies were mostly focused on abstract theoretical settings, recent work confirmed the occurrence of the…
Many dynamical systems exhibit similar structure, as often captured by hand-designed simplified models that can be used for analysis and control. We develop a method for learning to correspond pairs of dynamical systems via a learned latent…
With the accelerated development of robot technologies, optimal control becomes one of the central themes of research. In traditional approaches, the controller, by its internal functionality, finds appropriate actions on the basis of the…
Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world…
A system of classical interacting spins can develop collective instabilities which, in the nonlinear regime, mimic the motion of a gyroscopic pendulum. Known as the flavor pendulum, this behavior appears among the collective modes of a…
The concept of random dynamical system is a comparatively recent development combining ideas and methods from the well developed areas of probability theory and dynamical systems. Due to our inaccurate knowledge of the particular physical…
We present an experimental setup to demonstrate normal modes and symmetry breaking in a two-dimensional pendulum. In our experiment we have used two modes of a single oscillator to demonstrate normal modes, as opposed to two single…
Inspired greatly by Mills et al. (2009) and the solution within, this paper aims to more clearly explain the mathematics and implementation details of such a powerful control algorithm. While the aforementioned paper is well written and of…
Progress in the creation of large scale, artificial quantum coherent structures demands the investigation of their nonequilibrium dynamics when strong interactions, even between remote parts, are non-perturbative. Analysis of multiparticle…
We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…