Related papers: Data-driven observer design for an inertia wheel p…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…
The increasing use of data-driven control strategies gives rise to the problem of learning-based state observation. Motivated by this need, the present work proposes a data-driven approach for the synthesis of state observers for…
This paper presents a data-integrated framework for learning the dynamics of fractional-order nonlinear systems in both discrete-time and continuous-time settings. The proposed framework consists of two main steps. In the first step,…
A non-equilibrium steady state can be characterized by a nonzero but stationary flux driven by a static external force. Under a weak external force, the drift velocity is difficult to detect because the drift motion is feeble and submerged…
The nonlinear dynamics associated with sliding friction forms a broad interdisciplinary research field that involves complex dynamical processes and patterns covering a broad range of time and length scales. Progress in experimental…
In order to examine the influence of system dynamics on sliding friction, we introduce the so-called micro-walking machine. This model consists of a rigid body with a number of elastic contact spots that is pulled by a constantly moving…
Frictional forces are a key ingredient of any physical description of the macroscopic world, as they account for the phenomena causing transformation of mechanical energy into heat. They are ubiquitous in nature, and a wide range of…
We perform extended numerical simulation of the dynamics of dry friction, based on a model derived from the phenomenological description proposed by T. Baumberger et al.. In the case of small deviation from the steady sliding motion, the…
Rolling of a small sphere on a solid support is governed by a non-linear friction that is akin to the Coulombic dry fiction. No motion occurs when the external field is weaker than the frictional resistance. However, with the intervention…
Reinforcement learning (RL) agents typically assume stationary environment dynamics. Yet in real-world applications such as healthcare, robotics, and finance, transition probabilities or reward functions may evolve, leading to model drift.…
We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…
We derive the theory of open quantum system dynamics intervened by a series of nonselective measurements. We analyze the cases of time independent and time dependent Hamiltonian dynamics in between the measurements and find the approximate…
The simulation of inelastic effects in flexible slender technical devices has become of increasing interest in the past years. Different approaches have been considered depending on the effects relevant for the specific application.…
The sliding friction of a dimer moving over a periodic substrate and subjected to an external force is studied in the steady state for arbitrary temperatures within a one-dimensional model. Nonlinear phenomena that emerge include dynamic…
This paper considers the design of nonlinear observers for invariant systems posed on finite-dimensional connected Lie groups with measurements generated by a transitive group action on an associated homogeneous space. We consider the case…
The paper is devoted to the observability study of a dynamic system, which describes the vibrations of an elastic beam with an attached rigid body and distributed control actions. The mathematical model is derived using Hamilton's principle…
We show that a collection of independent Ising spins evolving stochastically can display surprisingly large fluctuations towards ordered behaviour, as quantified by certain types of time-integrated plaquette observables, despite the…
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output…
Distinguishability and, by extension, observability are key properties of dynamical systems. Establishing these properties is challenging, especially when no analytical model is available and they are to be inferred directly from…
A two-dimensional \underline{Frenkel-Kontorova model} under a steady external force is used to study the nonlinear sliding friction between flat macroscopic surfaces with a lubricant layer in between. The nonequilibrium properties of the…