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This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper systems, which allows us to compute the equivalent contact…
The Rattleback is a very popular science toy shown to students all over the world to demonstrate the non-triviality of rotational motion. When spun on a horizontal table, this boat-shaped object behaves in a peculiar way. Although the…
The paper studies spin-orbit interaction (i.e. the effect the spin has on the particle's trajectory in a magnetic field) as a model of quantum computation. The two-level spin quantum system is examined using the stochastic mechanics…
In classical dynamical systems, stochastic feedback can stabilize otherwise unstable periodic orbits, giving rise to distinct controlled and uncontrolled phases as the rate of control application is varied. In this work, we apply these…
In magnetic systems with dominating easy-plane anisotropy the magnetization can be described by an effective one dimensional equation for the in-plane angle. Re-deriving this equation in the presence of spin-transfer torques, we obtain a…
A physically transparent and mathematically simple semiclassical model is employed to examine dynamics in the central-spin problem. The results reproduce a number of previous findings obtained by various quantum approaches and, at the same…
The humble pendulum is often invoked as the archetype of a simple, gravity driven, oscillator. Under ideal circumstances, the oscillation frequency of the pendulum is independent of its mass and swing amplitude. However, in most real-world…
A submerged finite cylinder moving under its own weight along a soft incline lifts off and slides at a steady velocity while also spinning. Here, we experimentally quantify the steady spinning of the cylinder and show theoretically that it…
We present and analyse a simple model for the twisting somersault. The model is a rigid body with a rotor attached which can be switched on and off. This makes it simple enough to devise explicit analytical formulas whilst still maintaining…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
We investigate the spin dynamics of a dipole-coupled system by comparing a direct solution of the Schrodinger equation for quantum spins with simulations of classical spins. Although classical spins have long been used in microscopic spin…
Efficient control over entanglement in spin chains is useful for quantum information processing applications. In this paper, we propose the use of a combination of two different configurations of strong static and oscillating fields to…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…
We discuss boundary control of a wave equation with a non-linear anti-damping boundary condition. We design structured finite-dimensional $H_\infty$-output feedback controllers which stabilize the infinite dimensional system exponentially…
Since Galileo's time, the pendulum has evolved into one of the most exciting physical objects in mathematical modeling due to its vast range of applications for studying various oscillatory dynamics, including bifurcations and chaos, under…