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Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation. Twistcar is a classical example inspired by a riding toy, which has been analyzed using a planar model of a dynamical system with…

The wheeled three-link snake robot is a well-known example of an underactuated system modelled using nonholonomic constraints, preventing lateral slippage (skid) of the wheels. A kinematically controlled configuration assumes that both…

This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…

Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…

The dynamics of a non-autonomous oscillator in which the phase and frequency of the external force depend on the dynamical variable is studied. Such a control of the phase and frequency of the external force leads to the appearance of…

An asymmetric two-link robot supported atop a flat platform by wheels that roll and pivot freely, but do not slip laterally, will develop forward momentum if the joint between the links is actuated internally. In particular, oscillations in…

We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…

This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…

Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…

We study dense mixtures of passive and active self-aligning disks with isotropic or anisotropic mobility. We find that the passive fraction controls an order-disorder transition that is continuous in the isotropic case and discontinuous in…

The dipteran flight mechanism of the insects is commonly used to design the nonlinear flight robot system. However, the dynamic response of the click mechanism of the nonlinear robot system with multiple stability still unclear. In this…

This paper examines impulsive non-autonomous systems with grazing periodic solutions. Surfaces of discontinuity and impact functions of the systems are not depending on the time variable. That is, we can say that the impact conditions are…

A novel method for the numerical prediction of the slowly varying dynamics of nonlinear mechanical systems has been developed. The method is restricted to the regime of an isolated nonlinear mode and consists of a two-step procedure: In the…

This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…

This paper proposes a model-based approach to control the shape of a tensegrity system by driving its node position locations. The nonlinear dynamics of the tensegrity system is used to regulate position, velocity, and acceleration to the…

A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…

We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a…

In this work we study a nonlinear Volterra equation with non-symmetric feedback that arises as a particular case of the Gurtin-MacCamy model in population dynamics. We are particularly interested in the existence of slowly oscillating…

Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…

The study deals with a rotor-stator contact inducing vibration in rotating machinery. A numerical rotor-stator system, including a non-linear bearing with Hertz contact and clearance is considered. To determine the non-linear responses of…