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

Leader Election is an important primitive for programmable matter, since it is often an intermediate step for the solution of more complex problems. Although the leader election problem itself is well studied even in the specific context of…

The primal-dual distributed optimization methods have broad large-scale machine learning applications. Previous primal-dual distributed methods are not applicable when the dual formulation is not available, e.g. the sum-of-non-convex…

In this article, we focus on the global stabilizability problem for a class of second order uncertain stochastic control systems, where both the drift term and the diffusion term are nonlinear functions of the state variables and the…

Periodic forcing of nonlinear oscillators generates a rich and complex variety of behaviors, ranging from regular to chaotic behavior. In this work we seek to control, i.e., either suppress or generate, the chaotic behavior of a classical…

A system made up of N interacting species is considered. Self-reaction terms are assumed of the logistic type. Pairwise interactions take place among species according to different modalities, thus yielding a complex asymmetric disordered…

Homoclinic snaking is a widespread phenomenon observed in many pattern-forming systems. Demonstrating its occurrence in non-perturbative regimes has proven difficult, although a forcing theory has been developed based on the identification…

In this article we consider the possibility of controlling the dynamics of nonlinear discrete systems. A new method of control is by mixing states of the system (or the functions of these states) calculated on previous steps. This approach…

Coupling of chaotic oscillators has evidenced conditions where synchronization is possible, therefore a nonlinear system can be driven to a particular state through input from a similar oscillator. Here we expand this concept of control of…

In this work, we investigate the synchronization in oscillators with conjugate coupling in which oscillators interact via dissimilar variables. The synchronous dynamics and its stability are investigated theoretically and numerically. We…

We study the dynamics of pairs of connected masses in the plane, when nonholonomic (knife-edge) constraints are realized by forces of viscous friction, in particular its relation to constrained dynamics, and its approximation by the method…

The dynamics of an active walker in a harmonic potential is studied experimentally, numerically and theoretically. At odds with usual models of self-propelled particles, we identify two dynamical states for which the particle condensates at…

We demonstrate targeting and control over spatiotemporal chaos in an optical feedback loop experiment. Different stationary target patterns are stabilized in real-time by means of a two dimensional space extended perturbation field driven…

This paper deals with the stochastic control of nonlinear systems in the presence of state and control constraints, for uncertain discrete-time dynamics in finite dimensional spaces. In the deterministic case, the viability kernel is known…

Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…

Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…

In this paper we consider three different synchronization problems consisting in designing a nonlinear feedback unidirectional coupling term for two (possibly chaotic) dynamical systems in order to drive the trajectories of one of them, the…

The problem of a general, symmetric contact, between elastically similar bodies, and capable of idealisation using half-plane theory, is studied in the presence of interfacial friction. It is subject to a constant set of loads - normal…

A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…

Here we deal with the stabilization problem of non-diagonal systems by boundary control. In the studied setting, the boundary control input is subject to a constant delay. We use the spectral decomposition method and split the system into…

Variational integrators are well-suited for simulation of mechanical systems because they preserve mechanical quantities about a system such as momentum, or its change if external forcing is involved, and holonomic constraints. While they…