Related papers: Finite-Step Invariant Sets for Hybrid Systems with…
This paper presents a systematic approach to exponentially stabilize the periodic orbits of multi-domain hybrid systems arising from 3D bipedal walking. Firstly, the method of Poincare sections is extended to the hybrid systems with…
When the Poincar\'{e} map associated with a periodic orbit of a hybrid dynamical system has constant-rank iterates, we demonstrate the existence of a constant-dimensional invariant subsystem near the orbit which attracts all nearby…
For hybrid systems exhibiting periodic behavior, analyzing the invariant set containing the limit cycle is a natural way to study the robustness of the closed-loop system. However, computing these sets can be computationally expensive,…
We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
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…
Periodic orbits are among the simplest non-equilibrium solutions to dynamical systems, and they play a significant role in our modern understanding of the rich structures observed in many systems. For example, it is known that embedded…
The transition from rotational to discontinuous behavior of the return map of the perturbed oscillators-step system, a paradigm model for a perturbation of a pseudo-integrable Hamiltonian impact system, is studied. The form of the return…
In this paper we investigate the relation between robustness of periodic orbits exhibited by systems with impulse effects and robustness of their corresponding Poincar\'e maps. In particular, we prove that input-to-state stability (ISS) of…
A generalization of the Poincar\'{e}-Hopf index theorem applicable to hybrid dynamical systems is obtained. For the hybrid systems considered, guard sets are not assumed to be smooth; distinct "modes" are not assumed to have constant…
Dynamical properties of limit cycles in a two-dimensional max-plus dynamical system are discussed. We apply a Poincare map method to the limit cycles in order to reveal their stabilities. This method reduces the two dimensional system to a…
In recent years, numerous vision and learning tasks have been (re)formulated as nonconvex and nonsmooth programmings(NNPs). Although some algorithms have been proposed for particular problems, designing fast and flexible optimization…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
We study dynamical systems that switch between two different vector fields depending on a discrete variable and with a delay. When the delay reaches a problem-dependent critical value so-called event collisions occur. This paper classifies…
Poincar\'e maps are an integral aspect to our understanding and analysis of nonlinear dynamical systems. Despite this fact, the construction of these maps remains elusive and is primarily left to simple motivating examples. In this…
We investigate the dependence of Poincar\'e recurrence-times statistics on the choice of recurrence-set, by sampling the dynamics of two- and four-dimensional Hamiltonian maps. We derive a method that allows us to visualize the direct…
Quantum algorithms are built enabling to find Poincar\'e recurrence times and periodic orbits of classical dynamical systems. It is shown that exponential gain compared to classical algorithms can be reached for a restricted class of…
In this paper, we propose a method, that is based on equivariant moving frames, for development of high order accurate invariant compact finite difference schemes that preserve Lie symmetries of underlying partial differential equations. In…
Differential equations with random parameters have gained significant prominence in recent years due to their importance in mathematical modelling and data assimilation. In many cases, random ordinary differential equations (RODEs) are…
The Poincar\'e map is widely used to study the qualitative behavior of dynamical systems. For instance, it can be used to describe the existence of periodic solutions. The Poincar\'e map for dynamical systems with impulse effects was…