The first reference to the rigidity of frameworks in the mathematical literature occurs in a problem posed by Euler in 1776, see [8]. Consider a polyhedron P in 3-space. We view P as a ‘ panel-and-hinge framework’ in which the faces are 2-dimensional panels and the edges are 1-dimensional hinges. The panels are free to move continuously in 3-space, subject to the constraints that the shapes of ...

The present work addresses the problem of determining under what conditions the impending slip state or the steady sliding of a linear elastic orthotropic layer or half space with respect to a rigid flat obstacle is dynamically unstable. In other words, we search the conditions for the occurrence of smooth exponentially growing dynamic solutions with perturbed initial conditions arbitrarily clo...

The viscous dissipation between rigid, randomly rough indenters and linearly elastic counter bodies sliding past them is investigated using Green’s function molecular dynamics. study encompasses a variety of models differing in the height spectra properties rigid indenter, viscoelasticity elastomer, their interaction. All systems reveal expected damping linear velocity v at small pronounced max...

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...

|A novel continuous control system is proposed which guarantees robust tracking in nite time for uncertain robot arms subject to unknown dynamic friction. To achive this result, several novel algorithms were combined: a.a dynamic adaptive sliding mode control; b.a time base generator to yield a time-varing gain, which allows to obtain nite time convergence; c.continuous parametrization to compe...

Based on the theory of multi-body system dynamics and the method of finite element and boundary element, the finite element model of vehicle body and the rigid-flexible coupled model of vehicle and the acoustic boundary element model of carriage were established by applying a variety of simulation software. Road roughness was simulated and the SPL of field point in carriage under the excitation...

In this article, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when system states are restricted switching surface, a novel function designed by hyperbolic sine such that surface contains two equilibriums. Then, sliding mode controller developed based on proposed ensure robustness of closed-loop disturbance and ine...

Abstract In order to solve the precise position control problem of a rigid and flexible manipulator with underactuated variables, controller was designed based on fuzzy nonsingular terminal slip strategy combined state feedback. The simulation results show that, compared existing basic sliding mode methods, proposed method has less overshoot, adjustment time, input torque jitter, maximum amplit...