Now showing items 1-10 of 26
Mechanical Systems with Partial Damping: Two Examples
We discuss the problem of constructing steady state motions of mechanical systems with partial damping. A planar three bar linkage with viscous damping at one of the joints is considered as an example. We show that for a ...
A Lyapunov Functional for the Cubic Nonlinearity Activator-Inhibitor Model Equation
The cubic nonlinearity activator-inhibitor model equation is a simpleexample of a pattern-forming system for which strong mathematical resultscan be obtained. Basic properties of solutions and the derivation ofa Lyapunov ...
Geometric Phases, Anholonomy, and Optimal Movement
In the search for useful strategies for movement of robotic systems (e.g. manipulators, platforms) in constrained environments (e.g. in space, underwater), there appear to be new principles emerging from a deeper geometric ...
An Improved Model for the Dynamics of Spur Gear Systems with Backlash Consideration
An improved model which accounts for backlash effects is proposed for the dynamics of spur gear systems. This dynamic model is mainly developed for the purpose of real time control. The complicated variation of the meshing ...
Optimal Control and Poisson Reduction
In this paper we make explicit a reduction of G-invariant optimal control problems on a Lie group G.
A Model for a Thin Magnetostrictive Actuator
In this paper, we propose a model for dynamic magnetostrictive hysteresisin a thin rod actuator. We derive two equations that representmagnetic and mechanical dynamic equilibrium. Our model results from an application of ...
The Hybrid Motor Prototype: Design Details and Demonstration Results
A novel hybrid rotary motor incorporating piezoelectric and magnetostrictive actuators has been designed and demonstrated. The novelty of this motor was the creation of an electrical resonant circuit, whereby reactive power ...
Analysis of a complex activator-inhibitor equation
Basic properties of solutions and a Lyapunov functionalare presented for a complex activator-inhibitor equation witha cubic nonlinearity.Potential applications include control of coupled-oscillator arrays(for quasi-optical ...
Steady Rigid-Body Motions in a Central Gravitational Field
In recent work, the exact dynamic equations for the motion of a finite rigid body in a central gravitational field were shown to be of Hamiltonian form with a noncanonical structure. In this paper, the notion of relative ...
Comparative Study of Friction-Compensating Control Strategies for Servomechanisms
This paper describes a comparative investigation of friction- compensating control strategies designed to improve low-velocity position tracking performance for servomechanisms. Several control methods are considered ...