相关论文: Planar Symmetric Juggling of a Devil-Stick

The paper addresses an optimal control problem for a perturbed sweeping process of the rate-independent hysteresis type described by a controlled "play and stop" operator with separately controlled perturbations. This problem can be reduced…

Time-delay systems are an important class of dynamical systems which provide a solid mathematical framework to deal with many application domains of interest ranging from biology, chemical, electrical, and mechanical engineering, to…

We explain the meaning of dynamical manipulation, and we illustrate its mechanism by using a system composed of a charged particle in a Penning trap. It is shown that by means of appropriate electric shocks (delta-like pulses) applied to…

This paper presents an instability result of Hamiltonian systems associated with optimal swing-up control for a pendulum. The systems possess weak (higher-order) instability at the initial point of the swing-up control, the analysis for…

Symmetric spaces arise in wide variety of problems in Mathematics and Physics. They are mostly studied in Representation theory, Harmonic analysis and Differential geometry. As many physical systems have symmetric spaces as their…

This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…

In this paper we review the system made up by two blocks connected by a string over a smooth pulley with variable tension. One block lies on an horizontal surface and the another block is hanging vertically. We carry out a complete and…

We consider a dc-driven damped sine-Gordon model with a small nonlinear spatial-disorder term, onto which a sinusoidal modulation is superimposed. It describes, e.g., a weakly disordered system with a regular grain structure. We demonstrate…

The problem of partial stabilization for nonlinear control systems described by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method which leads to establishing the…

Continuum robotic grasping, inspired by biological appendages such as octopus arms and elephant trunks, provides a versatile and adaptive approach to object manipulation. Unlike conventional rigid-body grasping, continuum robots leverage…

Dynamic jamming is a phenomenon whereby a dense suspension switches from a fluid-like to a solid-like state when subjected to sufficient stress and deformation. Large enough systems show that this transition is accompanied by a distinct…

The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…

We investigate experimentally and theoretically the dynamics of a crack front during the micro-instabilities taking place in heterogeneous materials between two successive equilibrium positions. We focus specifically on the spatio-temporal…

The nonlinear response to an external electric field is studied for classical non-interacting charged particles under the influence of a uniform magnetic field, a periodic potential, and an effective friction force. We find numerical and…

In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e.…

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…

In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…

An analytical model that describes the interactive buckling of a thin-walled I-section strut under pure compression based on variational principles is presented. A formulation combining the Rayleigh--Ritz method and continuous displacement…

We consider a control constrained parabolic optimal control problem and use variational discretization for its time semi-discretization. The state equation is treated with a Petrov-Galerkin scheme using a piecewise constant Ansatz for the…

This paper considers the cluster synchronization problem of generic linear dynamical systems whose system models are distinct in different clusters. These nonidentical linear models render control design and coupling conditions highly…