In this paper we investigate the relation between robustness of periodic orbits exhibited by systems with impulse effects and robustness of their corresponding Poincaré maps. In particular, we prove that input-to-state stability (ISS) of a periodic orbit under external excitation in both continuous and discrete time is equivalent to ISS of the corresponding 0-input fixed point of the associated...

We analyze the folded spinning string in AdS4 × P with spin S in AdS4 and angular momentum J in P. We calculate the one-loop correction to its energy in the scaling limit of both lnS and J large with their ratio kept fixed. This result should correspond to the first subleading strong coupling correction to the anomalous dimension of operators of the type Tr(D(Y †Y )) in the dual N = 6 Chern-Sim...

It was shown in Spong [1999b] that the passive gaits for a planar 2DOF biped walking on a shallow slope (Goswami et al. [1995]) can be made slope invariant by a passivity based control that compensates only the gravitational torques acting on the biped. In this paper we extend these results to the general case of a 3-D, n-DOF robot. We show that if there exists a passive walking gait, i.e., if ...

In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. The based on the equations of motion nonlinear bicycle model. performance evaluated in simulation, sensitivity analysis performed implemented 1/10 scale radio controlled car. able to track path normal driving conditions let vehicle enter maintain drift while remaining close de...

This paper proposed a saturated adaptive barrier sliding mode control (SABSMC) for disturbed systems with parameter uncertainty, external disturbance, and input saturation. One distinctive feature of the method is that even under influence saturation, it able to drive system trajectory into prespecified neighbourhood surface, independent upper limit lumped disturbance. Moreover, attributing des...