相关论文: Base-controlled mechanical systems and geometric p…

We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…

We describe in detail a general strategy for implementing a conditional geometric phase between two spins. Combined with single-spin operations, this simple operation is a universal gate for quantum computation, in that any unitary…

We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…

This paper presents a geometric input-output analysis of hidden modes in distance-based formation control. We study the linearized dynamics under a gradient control law to characterize the system's structural limitations and their dynamic…

We present BRST gauge fixing approach to quantum mechanics in phase space. The theory is obtained by $\hbar$-deformation of the cohomological classical mechanics described by d=1, N=2 model. We use the extended phase space supplied by the…

The main theme of the article is the study of discrete systems of material points subjected to constraints not only of a geometric type (holonomic constraints) but also of a kinematic type (nonholonomic constraints). The setting up of the…

We introduce a general formalism, based on the stochastic formulation of quantum mechanics, to obtain localized quasi-classical wave packets as dynamically controlled systems, for arbitrary anharmonic potentials. The control is in general…

The phase structure of QCD remains an open fundamental problem of standard model physics. In particular at finite density, our knowledge is limited. Yet, numerous model studies point towards a rich and complex phase diagram at large…

We derive for Bohmian mechanics topological factors for quantum systems with a multiply-connected configuration space Q. These include nonabelian factors corresponding to what we call holonomy-twisted representations of the fundamental…

We present a simple choice of integration variables that can be used to exploit the near-integrable character of problems in celestial mechanics. The approach is based on the well-known principle of variation of parameters: instead of…

Dynamics of the structured particles consisting of potentially interacting material points is considered in the framework of classical mechanics. Equations of interaction and motion of structured particles have been derived. The expression…

We examine the problem of weaknesses in frameworks of conceptual modeling for handling certain aspects of the system being modeled. We propose the use of a flow-based modeling methodology at the conceptual level. Specifically, and without…

The paper deals with systems of ordinary differential equations containing in the right-hand side controls which are discontinuous in phase variables. These controls cause the occurrence of sliding modes. If one uses one of the well-known…

Quantum states of motion are critical components in the second quantum revolution. We investigate the generation and control of non-Gaussian motional states in a tripartite hybrid quantum system consisting of a collection of qubits coupled…

Constraints imposed directly on accelerations of the system leading to the relation of constants of motion with appropriate local projectors occurring in the derived equations are considered. In this way a generalization of the Noether's…

Systems built out of N-body interactions, beyond 2-body interactions, are formulated on the plane, and investigated classically and quantum mechanically (in phase space). Their Wigner Functions--the density matrices in phase-space…

We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…

A novel set-theoretical approach to hands-off control is proposed, focusing on spatial arguments for command limitation rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is…

We calculate the geometric phase for different open systems (spin-boson and spin-spin models). We study not only how they are corrected by the presence of the different type of environments but also discuss the appearence of decoherence…

This contribution deals with energy-based in-domain control of systems governed by partial differential equations with spatial domain up to dimension two. We exploit a port-Hamiltonian system description based on an underlying jet-bundle…