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Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
Active vibration control has been introduced and used as one of the effective approaches to suppress unwanted vibrations in different systems. Effective performance of each vibration control method is contingent to accurate design and…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
Systems of atoms or molecules can possess nonzero total spins that can be employed in spintronics, for instance for creating memory devices, which requires to be able to efficiently regulate spin directions. This article presents some…
We study the dynamical generation of entanglement for a very simple system: a pair of interacting spins, s1 and s2, in a constant magnetic field. Two different situations are considered:(a) s1 ->\infty, s2 = 1/2 and (b) s1 = s2 ->\infty,…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
We analyze the dynamics of a driven, damped pendulum as used in mechanical clocks. We derive equations for the amplitude and phase of the oscillation, on time scales longer than the pendulum period. The equations are first order ODEs and…
By using the blob theory and computer simulations, we investigate the properties of a linear polymer performing a stationary rotational motion around a long impenetrable rod. In particular, in the simulations the rotation is induced by a…
We study the rolling motion of a small solid sphere on a surface patterned rubber substrate in an external field with and without a noise. In the absence of the noise, the ball does not move below a threshold force above which it…
We solve for the dynamics of a pair of spins, coupled to each other and also to an environmental sea of oscillators. The environment mediates an indirect interaction between the spins, causing both mutual coherence effects and dissipation.…
This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
The motion of a driven planar pendulum with vertically periodically oscillating point of suspension and under the action of an additional constant torque is investigated. We study the influence of the torque strength on the transition to…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
The spontaneous spinning of a rattleback placed on a vibrating platform is investigated. The rattleback is a toy with some curious properties. When placed on a surface with reasonable friction, the rattleback has a preferred direction of…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
The controlled motion of a rolling ball actuated by internal point masses that move along arbitrarily-shaped rails fixed within the ball is considered. The controlled equations of motion are solved numerically using a predictor-corrector…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
The stability of complex networks, from power grids to biological systems, is crucial for their proper functioning. It is thus important to control such systems to maintain or restore their stability. Traditional approaches rely on…
Control theory arose from a need to control synthetic systems. From regulating steam engines to tuning radios to devices capable of autonomous movement, it provided a formal mathematical basis for understanding the role of feedback in the…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…