相关论文: Data-driven observer design for an inertia wheel p…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
We investigate a model for the dynamics of a solid object, which moves over a randomly vibrating solid surface and is subject to a constant external force. The dry friction between the two solids is modeled phenomenologically as being…
Recent model simulations discovered unexpected non-monotonic features in the wear-free dry phononic friction as a function of the sliding speed. Here we demonstrate that a rather straight- forward application of linear-response theory,…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
The dynamics of a periodically driven system whose time evolution is governed by the Schr\"{o}dinger equation with non-Hermitian Hamiltonians can be perfectly stable. This finding was only obtained very recently and will be enhanced by many…
Friction plays a key role in manipulating objects. Most of what we do with our hands, and most of what robots do with their grippers, is based on the ability to control frictional forces. This paper aims to better understand the variability…
We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…
We study the evolution of a two-state system that is monitored continuously but with interactions with the detector tuned so as to avoid the Zeno affect. The system is allowed to interact with a sequence of prepared probes. The…
In this work, we analyzed theoretically and experimentally the nonlinear dynamics of a magnetic pendulum driven by a coil-magnet interaction. The force between the magnetic elements and the resulting torque on the pendulum are derived using…
We introduce the notion of descriptor embedding for nonlinear systems and use it for the data-driven design of stabilizing controllers. Specifically, we provide sufficient data-dependent LMI conditions which, if feasible, return a…
We study a model of rolling particles subject to stochastic fluctuations, which may be relevant in systems of nano- or micro-scale particles where rolling is an approximation for strong static friction. We consider the simplest possible…
We consider a dry friction oscillator on a moving belt with both the Coulomb friction and a small nonlinear addition which can model e.g. the Stribeck effect. By using the perturbation theory, we establish a new sufficient condition for the…
This study introduces a data-driven, machine learning-based method to detect suitable control variables and instruments for assessing the causal effect of a treatment on an outcome in observational data. Our approach tests the joint…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
Analyzing signals arising from dynamical systems typically requires many modeling assumptions and parameter estimation. In high dimensions, this modeling is particularly difficult due to the "curse of dimensionality". In this paper, we…
Friction modeling plays a crucial role in achieving high-precision motion control in robotic operating systems. Traditional static friction models (such as the Stribeck model) are widely used due to their simple forms; however, they…
We present a theoretical analysis of frictional transitions along the Stribeck curve for rough elastic contacts lubricated by a Newtonian fluid. Building on the mean-field framework of Persson and Scaraggi (J. Phys.: Condens. Matter 21…
Understanding how stick-slip dynamics manifests in diverse physical conditions is a crucial topic in tribology. Although it has been extensively studied in simple frictional configurations, the characterization of stick-slip behavior in…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…