2,722 research outputs found
Impulse-Based Hybrid Motion Control
The impulse-based discrete feedback control has been proposed in previous
work for the second-order motion systems with damping uncertainties. The
sate-dependent discrete impulse action takes place at zero crossing of one of
both states, either relative position or velocity. In this paper, the proposed
control method is extended to a general hybrid motion control form. We are
using the paradigm of hybrid system modeling while explicitly specifying the
state trajectories each time the continuous system state hits the guards that
triggers impulsive control actions. The conditions for a stable convergence to
zero equilibrium are derived in relation to the control parameters, while
requiring only the upper bound of damping uncertainties to be known. Numerical
examples are shown for an underdamped closed-loop dynamics with oscillating
transients, an upper bounded time-varying positive system damping, and system
with an additional Coulomb friction damping.Comment: 6 pages, 4 figures, IEEE conferenc
Nonlinear H_inf -Control of Mechanical Systems under Unilateral Constraints on the Position
6 pagesNational audienceThe work focuses on the study of hybrid mechanical systems under unilateral constraints on the position. The problem of robust control of mechanical systems is addressed under unilateral constraints by designing a nonlinear H-infinity -controller developed in the nonsmooth setting, covering impact phenomena. Performance issues of the nonlinear H-infinity-tracking controller are illustrated in a numerical simulation
Differential-Algebraic Equations and Beyond: From Smooth to Nonsmooth Constrained Dynamical Systems
The present article presents a summarizing view at differential-algebraic
equations (DAEs) and analyzes how new application fields and corresponding
mathematical models lead to innovations both in theory and in numerical
analysis for this problem class. Recent numerical methods for nonsmooth
dynamical systems subject to unilateral contact and friction illustrate the
topicality of this development.Comment: Preprint of Book Chapte
Earthquakes: from chemical alteration to mechanical rupture
In the standard rebound theory of earthquakes, elastic deformation energy is
progressively stored in the crust until a threshold is reached at which it is
suddenly released in an earthquake. We review three important paradoxes, the
strain paradox, the stress paradox and the heat flow paradox, that are
difficult to account for in this picture, either individually or when taken
together. Resolutions of these paradoxes usually call for additional
assumptions on the nature of the rupture process (such as novel modes of
deformations and ruptures) prior to and/or during an earthquake, on the nature
of the fault and on the effect of trapped fluids within the crust at
seismogenic depths. We review the evidence for the essential importance of
water and its interaction with the modes of deformations. Water is usually seen
to have mainly the mechanical effect of decreasing the normal lithostatic
stress in the fault core on one hand and to weaken rock materials via
hydrolytic weakening and stress corrosion on the other hand. We also review the
evidences that water plays a major role in the alteration of minerals subjected
to finite strains into other structures in out-of-equilibrium conditions. This
suggests novel exciting routes to understand what is an earthquake, that
requires to develop a truly multidisciplinary approach involving mineral
chemistry, geology, rupture mechanics and statistical physics.Comment: 44 pages, 1 figures, submitted to Physics Report
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