Related papers: Swing-Up of a Weakly Actuated Double Pendulum via …
For a model nonlinear dynamical system, we show how one may obtain its bifurcation behavior by introducing noise into the dynamics and then studying the resulting Langevin dynamics in the weak-noise limit. A suitable quantity to capture the…
A method of stabilizing 2-cycles in discrete dynamic systems by Delayed Feedback Control is developed by using classic Harmonic Analysis.
A 3D pendulum consists of a rigid body, supported at a fixed pivot, with three rotational degrees of freedom. The pendulum is acted on by a gravitational force. Symmetry assumptions are shown to lead to the planar 1D pendulum and to the…
We present a method for determining optimal modes of operation for autonomously oscillating systems with uncertain parameters. In a typical application of the method, a nonlinear dynamical system is optimized with respect to an economic…
In this article we design a backstepping control law based on geometric principles to swing up a spherical pendulum mounted on a moving quadrotor. The available degrees of freedom in the control vector also permit us to position the plane…
In dynamical systems governed by differential equations, a guarantee that trajectories emanating from a given set of initial conditions do not enter another given set can be obtained by constructing a barrier function that satisfies certain…
In the paper below we consider a problem of stabilization of a priori unknown unstable periodic orbits in non-linear autonomous discrete dynamical systems. We suggest a generalization of a non-linear DFC scheme to improve the rate of…
A Hybrid passive Linear Inverted Pendulum (HLIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
The presence of strong large-scale stable magnetic fields in a significant portion of early-type stars, white dwarfs, and neutron stars is well established. Despite this, the origins of these fields remain unresolved, with leading…
The motion of a simple pendulum in a uniform gravitational field can be described by the solution of a second-order differential equation, nonlinear differential equation. In practice we solve this equation using the small angle…
A system consisting of a doubly clamped beam with an attached body (slider) free to move along the beam has been studied recently by multiple research groups. Under harmonic base excitation, the system has the capacity to passively adapt…
This paper presents a feedback/feedforward nonlinear controller for variable-speed wind turbines with doubly fed induction generators. By appropriately adjusting the rotor voltages and the blade pitch angle, the controller simultaneously…
The stability of two bubbles rising initially in-line through a viscous liquid is revisited using a global linear stability analysis formulated within an Arbitrary Lagrangian-Eulerian framework, complemented by fully resolved Embedded…
The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…
The model we consider consists in a double pendulum set, where the pivot points are free to shift along a horizontal line. Moreover, the two pendula are coupled by means of a spring whose extremities connect two points of each pendulum, at…
This paper studies impulsive stabilization of nonlinear systems. We propose two types of event-triggering algorithms to update the impulsive control signals with actuation delays. The first algorithm is based on continuous event detection,…
A pendulum prepared perfectly inverted and motionless is a prototype of unstable equilibria and corresponds to an unstable hyperbolic fixed point in the dynamical phase space. Unstable fixed points are central to understanding Hamiltonian…
A double inverted pendulum plant has been in the domain of control researchers as an established model for studies on stability. The stability of such as a system taking the linearized plant dynamics has yielded satisfactory results by many…
The stabilization of long-range magnetic order in nominally non-magnetic semi-conductors using femtosecond light pulses is an exciting yet experimentally challenging goal. Theoretical studies indicate that certain non-magnetic…