相关论文: The invariant manifold approach applied to nonline…

Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…

A method is proposed to estimate the velocity field of an unsteady flow using a limited number of flow measurements. The method is based on a non-linear low-dimensional model of the flow and on expanding the velocity field in terms of…

Optimal sampled-data control of a nonlinear system is considered with the stable-manifold approach and extensive use of numerical techniques. The idea is to notice the Hamiltonian system associated with the considered optimal control…

Determining the reachable set for a given nonlinear system is critically important for autonomous trajectory planning for reach-avoid applications and safety critical scenarios. Providing the reachable set is generally impossible when the…

We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics…

In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…

This work presents a method for constructing online-efficient reduced models of large-scale systems governed by parametrized nonlinear scalar conservation laws. The solution manifolds induced by transport-dominated problems such as…

The reduction of dimensionality of physical systems, specially in fluid dynamics, leads in many situations to nonlinear ordinary differential equations which have global invariant manifolds with algebraic expressions containing relevant…

The aim of this work is to establish the existence of invariant manifolds in complex systems. Considering trajectory curves integral of multiple time scales dynamical systems of dimension two and three (predator-prey models, neuronal…

The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…

We propose a general strategy for reduced order modeling of systems that display highly nonlinear oscillations. By considering a continuous family of forced periodic orbits defined in relation to a stable fixed point and subsequently…

Model reduction methods often aim at an identification of slow invariant manifolds in the state space of dynamical systems modeled by ordinary differential equations. We present a predictor corrector method for a fast solution of an…

Stability is a basic requirement when studying the behavior of dynamical systems. However, stabilizing dynamical systems via reinforcement learning is challenging because only little data can be collected over short time horizons before…

We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…

This paper presents a novel approach for optical flow control of Micro Air Vehicles (MAVs). The task is challenging due to the nonlinearity of optical flow observables. Our proposed Incremental Nonlinear Dynamic Inversion (INDI) control…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

We outline a method for controlling the location of stable and unstable manifolds in the following sense. From a known location of the stable and unstable manifolds in a steady two-dimensional flow, the primary segments of the manifolds are…

The nonlinear dynamics of a microbeam-rigid body gyroscope are investigated by using a continuation method. To study the nonlinear dynamics of the system, the Lagrangian of the system is discretized and the reduced-order model is obtained.…

We consider the system of a two ball automatic dynamic balancer attached to a rotating disc with nonconstant angular velocity. We directly compare the scenario of constant angular velocity with that when the acceleration of the rotor is…

This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…