Related papers: An inverted pendulum with a springy control as a m…
Kiiking is an extreme sport in which athletes alternate between standing and squatting to pump a standing swing till it is inverted and completes a rotation. A minimal model of the sport may be cast in terms of the control of an actively…
To measure oscillation of a simple pendulum was probably a first idea coming to mind after appearance of smartphones with small but powerful acceleration sensors~: Simply attach the telephone to a playground swing or hang it on two string…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
This study introduces lateral pendulum as an innovative balancer design for bicycle stabilization. This pendulum, operating in the bicycle's vertical plane, enables the bicycle to remain stationary. The paper develops a dynamic model for a…
A Swinging Atwood Machine (SAM) is built and some experimental results concerning its dynamic behaviour are presented. Experiments clearly show that pulleys play a role in the motion of the pendulum, since they can rotate and have…
Quantum optomechanics offers the potential to investigate quantum effects in macroscopic quantum systems in extremely well controlled experiments. In this paper we discuss one such situation, the dynamic stabilization of a mechanical system…
A spherical robot has many practical advantages as the entire electronics are protected within a hull and can be carried easily by any Unmanned Aerial Vehicle (UAV). However, its use is limited due to finding mounts for sensors. Pendulum…
Stability of equilibrium states in mechanical systems with multiple unilateral frictional contacts is an important practical requirement, with high relevance for robotic applications. In our previous work, we theoretically analyzed…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
When facing a task of balancing a dynamic system near an unstable equilibrium, humans often adopt intermittent control strategy: instead of continuously controlling the system, they repeatedly switch the control on and off. Paradigmatic…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
Recently researchers at the University of Illinois coupled a real pendulum to its virtual counterpart. They observed that the two pendulums suddenly start to move in synchrony if their lengths are sufficiently close. In this synchronized…
We present a continuation method that enables one to track or continue branches of periodic orbits directly in an experiment when a parameter is changed. A control-based setup in combination with Newton iterations ensures that the periodic…
Various oscillatory phenomena occur in the world. Because some oscillations are related to abnormal states (e.g., particular diseases), establishing state-transition methods from an oscillatory to a resting state is important. In this…
We analyze the frictionless motion of a point-like particle that slides under gravity on an inverted conical surface. This motion is studied for arbitrary initial conditions and a general relation, valid within 13%, between the periods of…
In recent years the chain fountain became prominent for its counter-intuitive fascinating physical behavior. Most widely known is the experiment in which a long chain leaves an elevated beaker like a fountain and falls to the ground under…
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)…
One of the most important branches of nonlinear control theory is the so-called sliding-mode. Its aim is the design of a (nonlinear) feedback law that brings and maintains the state trajectory of a dynamic system on a given sliding surface.…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
We study the dynamics of the quantum optical spring, i.e., a spring whose spring constant undergoes discreet jumps depending on the quantum state of another system. We show the existence of revivals and fractional revivals in the quantum…