We demonstrate that the known off-shell nilpotent (i.e. s(a)b = 0) and anticommuting (i.e. sbsab + sabsb = 0) Becchi-Rouet-Stora-Tyutin (BRST) transformations (sb) and anti-BRST transformations (sab) are the symmetry transformations of the appropriate Lagrangian densities of a four (3 + 1)-dimensional (4D) free Abelian 2-form gauge theory which do not explicitly incorporate a very specific cons...

In this research paper, the modeling and control of a tendon-driven, instead joint motors, prosthetic finger that mimics actual human index were deliberated. Firstly, dynamic model is developed based on 3-degree freedom (DOF) articulated robot structure utilizing Lagrange equation. Then, classical sliding mode (CSMC) strategy was implemented to motion. To overcome cons CSMC, such as chattering ...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

Elastic robot joints gain in importance since the nowadays robotics tends to the lightweight structures. The lightweight metals and composite materials deployed not only in the links but also in the joint assemblies affect the overall stiffness of robotic system. The elastic joints provide the loaded robot motion with additional compliance and can lead to significant control errors and vibratio...

In this paper we obtain  exact solutions of the generalized Kuramoto-Sivashinsky equation, which describes manyphysical processes in motion of turbulence and other unstable process systems.    The methods used  to determine the exact solutions of the underlying equation are the Lie group analysis  and the simplest equation method. The solutions obtained are  then plotted.

The paper suggests a generalization of the classic Euler-Lagrange equation for circuits compounded of arbitrary elements from Chua’s periodic table. Newly defined potential functions for general (,) elements are used for the construction of generalized Lagrangians and generalized dissipative functions. Also procedures of drawing the Euler-Lagrange equations are demonstrated.

Abstract In this paper, according to the fractional factor derivative method, we study Lie symmetry theory of nonconservative singular Lagrange systems in a configuration space. First, calculus is calculated by using factor, and equations motion are derived differential variational principle. Second, determining limiting under an infinitesimal group transformation obtained. Furthermore, conserv...

A concept of phase asymptotic semiflow is defined. It is shown that any Lagrange stable orbit at which the semiflow is phase asymptotic limits to a stable periodic orbit. A Lagrange stable solution of a C 1 differential equation is considered. When the second compound of the variational equation with respect to this solution is uniformly asymptotically stable and the omega limit set contains no...

One of recent achievements in the field of nonlinear H∞ optimal control theories for Euler-Lagrange systems is the analytic solution to the Hamilton-JacobiIsaccs (HJI) equation associated to the so-called nonlinear H∞ inverse-optimal control [1]. In this paper, we address the problem of nonlinear H∞ optimal control design for an Euler-Lagrange system, rather than the inverse-optimal problem. By...