Related papers: Swing-Up of a Weakly Actuated Double Pendulum via …
We consider the one-dimensional Schroedinger equation on a ring, with the cubic term, of either self-attractive or repulsive sign, confined to a narrow segment. This setting can be realized in optics and Bose-Einstein condensates. For the…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…
In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method---originally proposed for stabilization of equilibria of nonlinear systems---allows us to provide a…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
In this paper, a novel recurrent adaptive backstepping optimal control strategy for a single inverted pendulum system is studied. By this method, an inverted pendulum is stabilized using projection recurrent neural network-based adaptive…
Galileo, in the XVII century, observed that the small oscillations of a pendulum seem to have constant period. In fact, the Taylor expansion of the period map of the pendulum is constant up to second order in the initial angular velocity…
Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in interesting and complicated nonlinear dynamics when studying…
We study the nonlinear, semiclassical dynamics of an open spin-1 (three-level) variant of the traditional Dicke model. In particular, we focus on V-type energy-level configurations with varying degrees of energy-level asymmetry. We also…
This paper considers a nonlinear spherical pendulum whose suspension point performs high-frequency spatial vibrations. The dynamics of this pendulum can be described by averaging its Hamiltonian over phases of vibrations. Rotationally…
We consider a simple model system supporting stable solitons in two dimensions. The system is the parametrically driven damped nonlinear Schr\"odinger equation, and the soliton stabilises for sufficiently strong damping. The purpose of this…
In this paper we explore the stability of an inverted pendulum with generalized parametric excitation described by a superposition of $N$ sines with different frequencies and phases. We show that when the amplitude is scaled with the…
Dynamical balance of excitation and inhibition is usually invoked to explain the irregular low firing activity observed in the cortex. We propose a robust nonlinear balancing mechanism for a random network of spiking neurons, which works…
The humble pendulum is often invoked as the archetype of a simple, gravity driven, oscillator. Under ideal circumstances, the oscillation frequency of the pendulum is independent of its mass and swing amplitude. However, in most real-world…
A fast harmonic oscillator is linearly coupled with a system of Ising spins that are in contact with a thermal bath, and evolve under a slow Glauber dynamics at dimensionless temperature $\theta$. The spins have a coupling constant…
Bifurcations associated with stability of the saddle fixed point of the Poincar\'{e} map, arising from the unstable equilibrium point of the potential, are investigated in a forced Duffing oscillator with a double-well potential. One…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
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…
We discuss several steady-state rotation and oscillation modes of the planar parametric rotator and pendulum with damping. We consider a general elliptic trajectory of the suspension point for both rotator and pendulum, for the latter at an…