相关论文: Data-driven observer design for an inertia wheel p…

This paper considers the stabilization of unknown switched linear systems using data. Instead of a full system model, we have access to a finite number of trajectories of each of the different modes prior to the online operation of the…

This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…

Electric throttle valves represent a challenge for control design, as their dynamics involve strong nonlinearities, characterized by an asymmetric hysteresis. Carrying experiments on multiple valves, a large variability in the…

Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…

A piecewise-linear model with a single degree of freedom is derived from first principles for a driven vertical cantilever beam with a localized mass and symmetric stops. The resulting piecewise-linear dynamical system is smoothed by a…

This work deals with the problem of designing observers for the estimation of a single function of the states for discrete-time nonlinear systems. Necessary and sufficient conditions for the existence of lower order functional observers…

We propose a data-driven control method for systems with aleatoric uncertainty, for example, robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and…

This paper presents mathematical modeling and numerical analysis of bifurcation and synchronization phenomena in a system of coupled oscillators driven by a finite-power energy source and generating two-dimensional stick-slip…

For a network of discrete states with a periodically driven Markovian dynamics, we develop an inference scheme for an external observer who has access to some transitions. Based on waiting-time distributions between these transitions, the…

This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…

Reduced-order modeling has a long tradition in computational fluid dynamics. The ever-increasing significance of data for the synthesis of low-order models is well reflected in the recent successes of data-driven approaches such as Dynamic…

In recent years, machine learning methods have been widely used to study physical systems that are challenging to solve with governing equations. Physicists and engineers are framing the data-driven paradigm as an alternative approach to…

Friction is an unavoidable phenomenon that exists in all mechanical systems incorporating parts with relative motion. It is well-known that friction is a serious impediment for precise servo control, hence the interest to devise a procedure…

Friction is one of the fundamental issues in physics, mechanics and material science with lots of practical applications. However, the understanding of macroscopic friction phenomena from microscopic aspect is still on the way. In this…

A new method has been proposed to evaluate the frictional force in the stationary state. This method is applied to the 1-dimensional model of clean surfaces. The kinetic frictional force is seen to depend on velocity in general, but the…

We study the dynamics of a flexible fiber freely moving in a three-dimensional fully-developed turbulent field and present a phenomenological theory to describe the interaction between the fiber elasticity and the turbulent flow. This…

We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…

We experimentally observe Floquet Raman transitions in the weakly driven solid state spin system of nitrogen-vacancy center in diamond. The periodically driven spin system simulates a two-band Wannier-Stark ladder model, and allows us to…

Understanding the dynamics of two inertial bodies coupled via a friction interface is essential for a wide range of systems and motion control applications. Coupling terms within the dynamics of an inertial pair connected via a passive…

This study investigates the nonlinear dynamics of a symmetric vibro-impact nonlinear energy sink (VI-NES) subjected to dry friction, a crucial factor that remains insufficiently explored in previous research. The combined effect of impact…