Related papers: Swing-Up of a Weakly Actuated Double Pendulum via …
This study investigates the dynamics of a magnetic pendulum under time-varying magnetic excitation with a position-dependent phase. The system exhibits complex chaotic and regular dynamics, validated through simulations and experiments. The…
We demonstrate an original approach to acquire nonlinear control over the angular momentum of a cluster of solitary waves. Our model, derived from a general description of nonlinear energy propagation in dispersive media, shows that the…
The aim of this article is to propose a model, that is a planar version of the Full Two-Body Problem, and discuss the existence and stability of a relevant periodic solution. Consider two homogeneous ellipsoids orbiting around each other in…
In this paper, the dynamical heteroclinic orbit and attractor have been employed to make the late-time behaviors of the model insensitive to the initial condition and thus alleviates the fine tuning problem in cosmological dynamical system…
We use the entropy method to analyze the nonlinear dynamics and stability of a continuum kinetic model of an active nematic suspension. From the time evolution of the relative entropy -- an energy-like quantity in the kinetic model -- we…
We consider a chain of coupled pendula pairs, where each pendulum is connected to the nearest neighbors in the longitudinal and transverse directions. The common strings in each pair are modulated periodically by an external force. In the…
We present a new analytic study of the equilibrium and stability properties of close binary systems containing polytropic components. Our method is based on the use of ellipsoidal trial functions in an energy variational principle. We…
We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…
The Wheeled Inverted Pendulum (WIP) is an underactuated, nonholonomic mechatronic system, and has been popularized commercially as the Segway. Designing a control law for motion planning, that incorporates the state and control constraints,…
We develop a theory of soliton spiraling in a bulk nonlinear medium and reveal a new physical mechanism: periodic power exchange via induced coherence, which can lead to stable spiraling and the formation of dynamical two-soliton states.…
We introduce a class of convex, higher-dimensional billiard models which generalise stadium billiards. These models correspond to the free motion of a point-particle in a region bounded by cylinders cut by planes. They are motivated by…
We prove the existence of closed stable orbits in a strongly coupled Wilberforce pendulum, for the case of a $1:2$ resonance, by using techniques of geometric singular symplectic reduction combined with the more classical averaging method…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
We study bifurcation behavior in periodic perturbations of two-dimensional symmetric systems exhibiting codimension-two bifurcations with a double eigenvalue when the frequencies of the perturbation terms are small. We transform the…
In this paper, we are concerned with the stabilization of linear port-Hamiltonian systems of arbitrary order $N \in \mathbb{N}$ on a bounded $1$-dimensional spatial domain $(a,b)$. In order to achieve stabilization, we couple the system to…
This paper concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the…
The absence, so far, of any graviton signatures at the LHC imposes severe constraints on the Randall-Sundrum scenario. Although a generalization to higher dimensions with nested warpings has been shown to avoid these constraints, apart from…
(Edited) Many fast rotator stars (rotation periods of < 2 days) are found in unresolved binaries with separations of tens of au. This correlation leads to the question of whether the formation of binary stars inherently produces fast…
This article investigates the problem of enforcing a virtual holonomic constraint (VHC) on a mechanical system with degree of underactuation one while simultaneously stabilizing a closed orbit on the constraint manifold. This problem, which…
The dynamics of co- and counter-rotating coupled spherical pendulums (two lower pendulums are mounted at the end of the upper pendulum) is considered. Linear mode analysis shows the existence of three rotating modes. Starting from linear…