Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

The paper deals with the problems of control and state estimation for nonlinear dynamical control system described by differential equations with unknown but bounded initial states. The nonlinear function in the right-hand part of a differential system is assumed to be of quadratic type with respect to state variable. Basing on the well-known results of ellipsoidal calculus developed for linear...

Long time asymptotics for some dynamical noise free non-linear filtering problems, new cases. Long time asymptotics for some dynamical noise free non-linear ltering problems, new cases.

Method to Sense Changes in Network Parameters with High-Speed, Nonlinear Dynamical Nodes by

We consider general nonlinear dynamical systems in a Banach space with dependence on parameters in a second Banach space. An abstract theoretical framework for sensitivity equations is developed. An application to measure dependent delay differential systems arising in a class of HIV models is presented. ∗email: [email protected] †email: [email protected]

We followup on a suggestion from Bullo and Lewis [1] concerning the importance of geometric homogeneity for mechanical systems. It is shown that controllability results for a large class of mechanical systems with drift can be recovered by considering a class of nonlinear dynamical systems satisfying certain homogeneity conditions.

Consider a dynamical system u 7→ x, ẋ = fnl(x, u) where fnl is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a generalization of the standard model-free control, that can either control the dynamical system, given an output reference trajectory, or optimize the dynamical system as a derivativ...

Perpetual Points (PPs) have been introduced as an interesting new topic in nonlinear dynamics, and there is a hypothesis that these points can determine whether a system is dissipative or not. This paper demonstrates that this hypothesis is not true since there are counterexamples. Furthermore, we explain that it is impossible to determine dissipation of a system based only on the structure of ...

In this brief, a fast terminal dynamics is proposed and used in the design of the sliding-mode control for single-input single-output nonlinear dynamical systems. The inherent dynamic properties of the fast terminal sliding modes are explored and conditions to ensure its applicability for control designs are obtained.