School of Astronautics Department of Astronautics Engineering and Mechanics Bachelor of Engineering Non-smooth Approach for Contact Dynamics and Impulse-based Control of Frictional Furuta Pendulum by Hantian Zhang In this thesis, a non-penetrated and physically consistent non-smooth numerical approach has been proposed, by employing the Prox formulation and Moreau’s mid-point time-stepping rule...

This paper presents a novel stabilization result for the Furuta pendulum for a large region of attraction including almost all of the upper half plane. The solution is obtained via constructing a Lyapunov function after set of coordinate changes. Then, a set of differential equations are solved to achieve asymptotic stability which is proved in accordance with La Salle’s invariance principle. T...

In this paper, we consider hybrid models of mechanical systems undergoing impacts, i.e., Lagrangian hybrid systems, and study their periodic orbits in the presence of Zeno behavior. The main result of this paper is explicit conditions under which the existence of stable periodic orbits for a Lagrangian hybrid system with plastic impacts implies the existence of periodic orbits in the same Lagra...

The usual application of feedback stabilization is based on linearization and the assumption of linear controllability. Least squares optimal control is often used to determine a set of feedback gains that will stabilize the system. In addition to the commonly acknowledged challenges arising when this methodology is applied to open-loop unstable systems with significant nonlinearities, there ar...

Using the damped pendulum model we introduce the averaging method to study the periodic solutions of dynamical systems with small non–autonomous perturbation. We provide sufficient conditions for the existence of periodic solutions with small amplitude of the non–linear perturbed damped pendulum. The averaging method provides a useful means to study dynamical systems, accessible to Master and P...

Robotically Controlled Slosh-Free Motion of an Open Container of Liquid John Feddema, Clark Dohrmann, Gordon Parker, Rush Robinett, Vicente Romero, Dan Schmittt Sandia National Laboratories Albuquerque, NM 87185 RECEIVED OCT 1 1 1995 Q S T I This paper describes two methods for controlling the surface of a liquid in an open container as it is being carried by a robot arm. Both methods make use ...

Abstract A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions) in phase space are determined. Under suitable conditions, the presence of constant torques does not change the number of fixed points, and preserve...

The development of system for linking the kilogram to electrical quantities is described in this paper. The method is based on a multifilar pendulum interacting with a coil, where a variable electromotive force that produces a current in the coil and in a suitable external resistor is generated. The electrical energy dissipated is measured and the mass is evaluated from this energy and from the...

Simple and bifilar pendulum were used to measure the mass moments of inertia of three tennis rackets. The pendulum setups were filmed using an off-the-shelf camcorder, with a stopwatch in view to provide timing data. The measurement accuracy was assessed using calibration rods of known mass moment of inertia. The simple pendulum method was found to be most accurate (<1.0 % difference to theoret...

The possibilities of studying nonlinear physical systems by small feedback action are discussed. Analytical bounds of possible system energy change by feedback are established. The feedback resonance and synchronization phenomena are studied for 2-DOF system consisting of two coupled pendulums. Computer simulation results are presented.