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The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
The motion of a driven planar pendulum with vertically periodically oscillating point of suspension and under the action of an additional constant torque is investigated. We study the influence of the torque strength on the transition to…
We discuss the equation of motion of the driven pendulum and generalize it to arbitrary driving angle. The pendulum will oscillate about a stable angle other than straight down if the drive amplitude and frequency are large enough for a…
Dynamics of solitons of the Ablowitz-Ladik model in the presence of a random potential is studied. In absence of the random potential it is an integrable model and the solitons are stable. As a result of the random potential this stability…
An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the…
Studies of particle motion in vortical flows have mainly focused on point-like particles, either inertial or self-propelled. This approximation assumes that the velocity field that surrounds the particle is linear. We consider an…
A particle driven by active self-propulsion can be subject to inhomogeneous potential fields, steering its orientation and leading to confinement and eventual trapping. Analytical treatment of capture and/or release dynamics for general…
We combine experiments with simulations to investigate the fluid-structure interaction of a flexible helical rod rotating in a viscous fluid, under low Reynolds number conditions. Our analysis takes into account the coupling between the…
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…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
A method for asteroid deflection that makes use of a spacecraft moving back and forth on a segment of an appropriate Keplerian orbit about the asteroid is described and evaluated. It is shown that, on average, the spacecraft describing such…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…
Dual-arm manipulation is an area of growing interest in the robotics community. Enabling robots to perform tasks that require the coordinated use of two arms, is essential for complex manipulation tasks such as handling large objects,…
We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…
In this letter, we study the nonlinear stability problem of converter-based power systems, where the converter dynamics are governed by a complex droop control. This complex droop control augments the well-known power-frequency (p-f) droop…
We present a locomotion mechanism that uses the stick-slip transition of a soft passive structure with an internal mechanical resonance. The structure is harmonically driven by a global vertical shaking and, because of its resonance…
A vortex-bright soliton can precess around a fix point. Here, we find numerically that the fixed point and the associated precessional orbits can be shifted by applying a constant driving force on the bright component, the displacement is…
The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem is based on the virtual holonomic constraint (VHC) method.…