相关论文: Switching between Limit Cycles in a Model of Runni…

We study limit cycles in piecewise complex systems with switching manifold $\mathbb{S}^1$. Using M\"obius transformations we establish an equivalence between circular and straight-line discontinuities that preserves periods, stability, and…

A rigorous proof of a theorem on the coexistence of smooth Lyapunov function and smooth planar dynamical system with one arbitrary limit cycle is given, combining with a novel decomposition of the dynamical system from the perspective of…

This paper concerns two-dimensional Filippov systems --- ordinary differential equations that are discontinuous on one-dimensional switching manifolds. In the situation that a stable focus transitions to an unstable focus by colliding with…

The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase…

In this paper a generalized Rayleigh-Li\'enard oscillator is consider and lower bounds for the number of limit cycles bifurcating from weak focus equilibria and saddle connections are provided. By assuming some open conditions on the…

This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…

We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept…

This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…

This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…

Motivated by recent applications in control theory, we study the feedback stabilizability of switched systems, where one is allowed to chose the switching signal as a function of $x(t)$ in order to stabilize the system. We propose new…

We investigate the sensorimotor loop of simple robots simulated within the LPZRobots environment from the point of view of dynamical systems theory. For a robot with a cylindrical shaped body and an actuator controlled by a single…

This paper presents a reinforcement learning-based neuroadaptive control framework for robotic manipulators operating under deferred constraints. The proposed approach improves traditional barrier Lyapunov functions by introducing a smooth…

In systems where the ability to actuate is a scarce resource, e.g., spacecrafts, it is desirable to only apply a given controller in an intermittent manner--with periods where the controller is on and periods where it is off. Motivated by…

In this paper, we generalize the Picard-Fuchs equation method to study the bifurcation of limit cycles of perturbed differential systems with two switching lines. We obtain the detailed expression of the corresponding first order Melnikov…

The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…

This paper is concerned with boundary stabilization of two-dimensional hyperbolic systems of partial differential equations. By adapting the Lyapunov function previously proposed by the second author for linearized hyperbolic systems with…

Attractors in asymmetric neural networks with deterministic parallel dynamics were shown to present a "chaotic" regime at symmetry eta < 0.5, where the average length of the cycles increases exponentially with system size, and an…

This paper proposes control laws ensuring the stabilization of a time-varying desired joint trajectory, as well as joint limit avoidance, in the case of fully-actuated manipulators. The key idea is to perform a parametrization of the…

The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…

We develop delay-compensating feedback laws for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be unavailable…