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Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger…

Propulsion of otherwise passive objects is achieved by mechanisms of active driving. We concentrate on cases in which the direction of active drive is subject to spontaneous symmetry breaking. In our case, this direction will be maintained,…

We report a surprising hysteretic behavior in the dynamics of a simple one-dimensional nonlinear model inspired by the tribological problem of two sliding surfaces with a thin solid lubricant layer in between. In particular, we consider the…

We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…

Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a stable closed-loop system. For general nonlinear models,…

Data-driven predictive analytics are in use today across a number of industrial applications, but further integration is hindered by the requirement of similarity among model training and test data distributions. This paper addresses the…

Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven…

A detailed analysis of three pendular motion models is presented. Inertial effects, self-oscillation, and memory, together with non-constant moment of inertia, hysteresis and negative damping are shown to be required for the comprehensive…

A continuum description is essential for understanding a variety of collective phenomena in active matter. However, building quantitative continuum models of active matter from first principles can be extremely challenging due to both the…

The data-driven modeling of dynamical systems has become an essential tool for the construction of accurate computational models from real-world data. In this process, the inherent differential structures underlying the considered physical…

This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…

Invariant measures encode the long-time behaviour of a dynamical system. In this work, we propose an optimization-based method to discover invariant measures directly from data gathered from a system. Our method does not require an explicit…

Modern wind turbines gather a wealth of data with Supervisory Control And Data Acquisition (SCADA) systems. We study the short-term mutual dependencies of a variety of observables by evaluating Pearson correlation matrices on a moving time…

We consider the problem of designing robust state-feedback controllers for discrete-time linear time-invariant systems, based directly on measured data. The proposed design procedures require no model knowledge, but only a single open-loop…

The paper deals with the studies of forced impacting oscillator when are taken into account the dry and viscous resistance, as well as the generalized Hertz contact law during an impact. The numerical treatments of mathematical model are…

We introduce an event-driven simulation scheme for overdamped dynamics of frictionless hard spheres subjected to external forces, neglecting hydrodynamic interactions. Our event-driven approach is based on an exact equation of motion which…

The maximum work extractable from a quantum system is achieved when the system is driven adiabatically. Frictional work then quantifies the difference in work output between adiabatic and non-adiabatic driving. Here we show that frictional…

This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular…

The stationary and highly non-stationary resonant dynamics of the harmonically forced pendulum are described in the framework of a semi-inverse procedure combined with the Limiting Phase Trajectory concept. This procedure, implying only…

We investigate how a weak constant force becomes detectable through fluctuations in anomalous transport in strongly heterogeneous media. Rather than focusing on the mean drift, we show that the key signature of the force appears in the…