Synchronization of networked mechanical systems without velocity information
Sign Up to like & getrecommendations! Published in 2024 at "Asian Journal of Control"
DOI: 10.1002/asjc.3529
Abstract: This paper studies the synchronization problem in a network of interconnected mechanical systems where the velocity information of the interacting agents is unavailable. To achieve this, a distributed law related to the kinetic and potential… read more here.
Keywords: information; system; synchronization; mechanical systems ... See more keywords
Indirect Collocation Method in Multiple Minimal Coordinates for Optimal Control of Constrained Mechanical Systems
Sign Up to like & getrecommendations! Published in 2025 at "International Journal for Numerical Methods in Engineering"
DOI: 10.1002/nme.70184
Abstract: This paper addresses the optimal control problem of constrained mechanical systems formulated in minimal coordinates. To avoid the underlying parameterization singularity issue of minimal coordinates, we derive the equivalent maximal principle in multiple minimal coordinates.… read more here.
Keywords: control; constrained mechanical; mechanical systems; optimal control ... See more keywords
Bounded inputs total energy shaping for a class of underactuated mechanical systems
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.5765
Abstract: Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme cases,… read more here.
Keywords: energy; system; mechanical systems; underactuated mechanical ... See more keywords
Energy‐Based Trajectory Tracking for Underactuated Mechanical Systems: Velocity‐Free and Disturbance Rejection Methods
Sign Up to like & getrecommendations! Published in 2025 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.8014
Abstract: This work investigates three energy‐shaping control approaches to address the trajectory‐tracking problem for specific classes of underactuated mechanical systems. In particular, the notions of contractive systems and dynamic extensions are utilized to solve the trajectory‐tracking… read more here.
Keywords: energy; mechanical systems; underactuated mechanical; trajectory tracking ... See more keywords
Constraint Control of Nonholonomic Mechanical Systems
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Nonlinear Science"
DOI: 10.1007/s00332-017-9406-1
Abstract: We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov’s problem, which is defined as the motion of a rigid body with… read more here.
Keywords: nonholonomic mechanical; control; control nonholonomic; mechanical systems ... See more keywords
Geodesic Extensions of Mechanical Systems with Nonholonomic Constraints
Sign Up to like & getrecommendations! Published in 2024 at "Journal of Nonlinear Science"
DOI: 10.1007/s00332-025-10133-y
Abstract: For a Lagrangian system with nonholonomic constraints, we discuss extensions of the equations of motion to sets of second-order ordinary differential equations. In the case of a purely kinetic Lagrangian, we investigate the conditions under… read more here.
Keywords: extensions mechanical; mechanical systems; nonholonomic constraints; systems nonholonomic ... See more keywords
A method for modelling contact between circular and non-circular shapes with variable radii of curvature and its application in planar mechanical systems
Sign Up to like & getrecommendations! Published in 2017 at "Multibody System Dynamics"
DOI: 10.1007/s11044-016-9549-0
Abstract: Contact impact has been widely found in the operation of various mechanical systems. These mechanical systems include the type of mechanism typically characterised by circular–non-circular geometric contact. They consist of the mechanisms of the cam… read more here.
Keywords: non circular; mechanical systems; geometry; circular non ... See more keywords
Global detection of detached periodic solution branches of friction-damped mechanical systems
Sign Up to like & getrecommendations! Published in 2019 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-019-05425-4
Abstract: Two novel methods to determine detached periodic solution branches of low-dimensional and large-scale friction-damped mechanical systems have been developed. The approach for low-dimensional systems is an extension of the global terrain method and consists of… read more here.
Keywords: damped mechanical; mechanical systems; solution; solution branches ... See more keywords
Stability analysis and synthesis of stabilizing controls for a class of nonlinear mechanical systems
Sign Up to like & getrecommendations! Published in 2020 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-020-05709-0
Abstract: This paper is concerned with the problems of stability and stabilization for a class of nonlinear mechanical systems. It is assumed that considered systems are under the action of linear gyroscopic forces, nonlinear homogeneous positional… read more here.
Keywords: stabilizing controls; nonlinear mechanical; mechanical systems; class nonlinear ... See more keywords
Cooperative game-oriented optimal design in constraint-following control of mechanical systems
Sign Up to like & getrecommendations! Published in 2020 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-020-05800-6
Abstract: This paper proposes a cooperative game-oriented optimal design problem of robust control for uncertain mechanical systems. State of the concerned system is affected by (possibly fast) time-varying but bounded uncertainty. The task is to drive… read more here.
Keywords: optimal design; control; mechanical systems; cooperative game ... See more keywords
Mechanical Systems with Singular Equilibria and the Coulomb Dynamics of Three Charges
Sign Up to like & getrecommendations! Published in 2018 at "Ukrainian Mathematical Journal"
DOI: 10.1007/s11253-018-1519-7
Abstract: We consider mechanical systems for which the matrices of second partial derivatives of the potential energies at equilibria have zero eigenvalues. It is assumed that their potential energies are holomorphic functions in these singular equilibrium… read more here.
Keywords: coulomb dynamics; equilibria coulomb; mechanical systems; systems singular ... See more keywords