Related papers: Inertial control of a spinning flat disk
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
We propose a method for dual-arm manipulation of rigid objects, subject to external disturbance. The problem is formulated as a Cartesian impedance controller within a projected inverse dynamics framework. We use the constrained component…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
We consider relative equilibrium solutions of the two-dimensional Euler equations in which the vorticity is concentrated on a union of finite-length vortex sheets. Using methods of complex analysis, more specifically the theory of the…
Ice discs were released at the surface of a thermalized aluminium plate. The fusion of the ice creates a lubrication film between the ice disc and the plate. The disc becomes very mobile. The situation is isomorphe to the Leidenfrost effect…
We investigate the physical properties of equilibrium sequences of non-self-gravitating surfaces that characterize thick disks around a rotating deformed compact object described by a stationary generalization of the static q-metric. The…
We consider linear one-dimensional parabolic equations with space dependent coefficients that are only measurable and that may be degenerate or singular.Considering generalized Robin-Neumann boundary conditions at both extremities, we prove…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
Control Lyapunov function is a central tool in stabilization. It generalizes an abstract energy function -- a Lyapunov function -- to the case of controlled systems. It is a known fact that most control Lyapunov functions are non-smooth --…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
We study the problem of controlling the free surface for a two dimensional solid container in the context of the gravity waves and the sloshing problem. By using conformal maps and the Dirichlet-Neumann operator, the problem is formulated…
We formulate and solve by semi-analytic means the axisymmetric equilibria of relativistic self-similar disks of infinitesimal vertical thickness. These disks are supported in the horizontal directions against their self-gravity by a…
The article treats the classical problem of stability of steady rotation of a rigid homogeneous ellipsoid on a rigid smooth plane which rotates about its vertical axis. The condition for the steady rotation is derived from the Euler-Poisson…
This research investigates the rotational dynamics of a charged axisymmetric spinning rigid body influenced by gyrostatic torque. The study also accounts for the effects of transverse and constant body-fixed torques and an electromagnetic…
We are interested in the feedback stabilization of general linear multi-dimensional first order hyperbolic systems in $\mathbb{R}^d$. Using a Lyapunov function with a suited weight function depending on the system under consideration we…
We derive in a direct and rather straightforward way the null controllability of the N-dimensional heat equation in a bounded cylinder with boundary control at one end of the cylinder. We use the so-called flatness approach, which consists…
We consider the singular configurations of gravitating gas [1] which could be used as a model for disk galaxies. The simplest steady configuration, which corresponds to rotation of stars around center gives flat rotational curve, provided…
Although there is no relative motion among different points on a rotating disc, each point belongs to a different noninertial frame. This fact, not recognized in previous approaches to the Ehrenfest paradox and related problems, is…
The paper deals with motion planning for a spin-rolling sphere when the sphere follows a straight path on a plane. Since the motion of the sphere is constrained by the straight line, the control of the sphere's spin motion is essential to…
This paper explores expressing the relative state in the close-proximity satellite relative motion problem in terms of fundamental solution constants. The nominal uncontrolled relative state can be expressed in terms of a weighted sum of…