Related papers: Data-driven observer design for an inertia wheel p…
A state observer design for the inertia wheel pendulum considering static friction of the actuated inertia disc is presented. The frictional force is modeled by the Stribeck effect, with two separate differential equations describing the…
We study three different experiments that involve dry friction and periodic driving, and which employ both single and many-particle systems. These experimental set-ups, besides providing a playground for investigation of frictional effects,…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
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…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
The nature of an instability that controls the transition from static to dynamical friction is studied in the the context of an array of frictional disks that are pressed from above on a substrate. In this case the forces are all explicit…
In this contribution, typical friction driven structures are summarized and presented considering the mechanical structures and operation principles of different types of piezoelectric motors. A two degree-of-freedom dynamic model with one…
We apply an operator-theoretic viewpoint to a class of non-smooth dynamical systems that are exposed to event-triggered state resets. The considered benchmark problem is that of a pendulum which receives a downward kick under certain fixed…
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…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
We study the effect of viscoelastic dynamics on the frictional properties of a (mean field) spring-block system pulled on a rough surface by an external drive. When the drive moves at constant velocity V, two dynamical regimes are observed:…
In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau's mid-point time-stepping rule, for the contact dynamics with coupled and decoupled…
We study the motion of elastic networks driven over a random substrate. Our model which includes local friction forces leads to complex dynamical behavior. We find a transition to a sliding state which belongs to a new universality class.…
In order to provide robust, reliable, and accurate position and velocity control of motor drives, friction compensation has emerged as a key difficulty. Non-characterised friction could give rise to large position errors and vibrations…
The tribology between surfaces can have a profound impact on the response of a mechanical system, such as how granular particles are driven to flow. In this work, we perform experiments that time-resolve the tangential and normal components…
The internal state of a dynamical system, a set of variables that defines its evolving configuration, is often hidden and cannot be fully measured, posing a central challenge for real-time monitoring and control. While observers are…
All physical laws are described as relationships between state variables that give a complete and non-redundant description of the relevant system dynamics. However, despite the prevalence of computing power and AI, the process of…
The current development of today's production industry towards seamless sensor-based monitoring is paving the way for concepts such as Predictive Maintenance. By this means, the condition of plants and products in future production lines…
The transitions between two states of a bistable system are investigated experimentally and analyzed in the framework of rare-event statistics. Considering a disk pendulum swept by a flow in a wind tunnel, bistability between two…