• 喀什12个贫困村实现生活垃圾集中处置 2019-06-30
  • 起底特大网络盗刷案:数亿人的秘密因一习惯被盗卖 2019-06-30
  • 黄淳的专栏作者中国国家地理网 2019-06-12
  • 坚守传统手工包粽 探访沪上老字号粽子生产车间 2019-06-10
  • 满满的都是屏 OPPO妹子最爱手机曝光 2019-06-10
  • 北京进入旅游旺季 警察提示游客需防揽客者连环设套忽悠购物 2019-06-08
  • 我写文章不是为了别人的赞许,是为了讨论问题,让人有思考的价值,就像你网名一样,探寻真理。我并非就全盘赞成市场经济,只是在讨论它的合理性,在文中也提问,“既然我们 2019-06-08
  • 山东假存单揽储1.6亿难追回,该省另一相似案件银行被判赔 2019-05-31
  • 天上不会掉馅饼,想要富起来,就要把别人的据为己有,能把别人的据为己有的问世间能有谁,能有几人,所谓的专家明白了吗。 2019-05-31
  • 乌鲁木齐市中级人民法院庭审在线直播 2019-05-21
  • 第530期:为何吃新鲜蔬果能抗肿瘤、强免疫……?因为有“它”! 2019-05-19
  • 世界杯大中华区官方票代谈假票门黄牛倒票行为 2019-05-19
  • 英媒:漫步北京上海,仿佛踏入未来 2019-05-17
  • 2017年各地领导干部给网友书写23万封回信 2019-05-17
  • 回到1396年的波斯街头文章中国国家地理网 2019-04-23
  • 江苏七位体彩开奖结果
    学霸学习网 这下你爽了
    相关文章
    当前位置:江苏七位体彩开奖结果 >> >>

    大乐透开奖号码:Stabilization of periodic orbits in a wedge billiard

    江苏七位体彩开奖结果 www.jwbw.net Stabilization of periodic orbits in a wedge billiard
    Manuel Gerard, Rodolphe Sepulchre Department of Electrical Engineering and Computer Science Universit? de Li` ge, Belgium e e [email protected], [email protected]

    1 The wedge billiard system The wedge billiard system is depicted on the Figure 1. A point mass (ball) moves in the plane under the action of a constant gravitational ?eld. The ball undergoes collisions with two intersecting edges, an idealization of the juggler’s two arms. In the absence of control, the two edges form a g ? J
    J
    J
    θ J
    J
    J
    J
    J
    Figure 1: The wedge billiard. ?xed angle θ with the direction of gravity. Rotational actuation of the edges around their ?xed intersection point is used to stabilize one particular orbit of the uncontrolled system. When uncontrolled, the wedge billiard is a rich dynamical model leading to stabilization problems of various complexity. It was realized in [2], [6] that the wedge billiard displays a variety of dynamical phenomena as a function of the angle θ. For θ < 45? , the phase space exhibits stable and chaotic behavior associated with periodic orbits of any period. For θ > 45? , the motion appears completely chaotic. The value θ = 45? is very special and leads to a completely integrable system with a two-parameter family of unstable periodic orbits. 2 Stabilization problem The stabilization problem under consideration is viewed as a benchmark for theoretical investigations of impact control problems encountered in legged robotics. The dif?culty when studying these mechanisms comes from the underactuated and intermittent nature of the control. Active stabilization of juggling machines has been addressed by [1], [3],[4], [7]. From a theoretical point of view, the stabilization of periodic orbits through impact control is rephrased as the ?xed point discrete-time stabilization of the Poincar map. Hence our

    problem de?nes as the stabilization of a three-dimensional discrete-time nonlinear system. In [5], the problem of stabilizing a period-two orbit (as depicted on the left part of Figure 2) is addressed in the case θ = 45? . The present paper will address the stabilization of a periodone orbit (see right part of Figure 2) for an arbitrary wedge angle 0? < θ < 90? .

    45° 45°

    Figure 2: Period-two orbit (left, θ = 45? ) and period-one orbit
    (right).

    References [1] M. Buehler, D.E. Koditschek, and P.J. Kindlmann, Planning and control of robotic juggling and catching tasks, International Journal of Robotics Research 13 (1994), no. 2, 101–118. [2] Lehtihet, H. E. Miller, and B. N., Numerical study of a billiard in a gravitational ?eld, Physica 21D (1986), 93– 104. [3] K.M. Lynch and C.K. Black, Control of underactuated manipulation by real-time nonlinear optimization, 9th Int. Symposium Robotics Research (Snowbird, UT), October 1999. [4] A. A. Rizzi and D. E. Koditschek, Progress in spatial robot juggling, IEEE International Conference on Robotics and Automation (Nice, France), 1992, pp. 775–780. [5] R. Sepulchre and M. Gerard, Stabilization of periodic orbits in a wedge billiard, IEEE 42nd Conf. on Decision and Control (Maui, Hawaii-USA), 2003, pp. 1568–1573. [6] T. Szeredi and D.A. Goodings, Classical and quantum chaos of the wedge billiard. i. classical mechanics, Physical Review E 48 (1993), no. 5, 3518–3528. [7] A. Zavala-Rio and B. Brogliato, On the control of a one degree-of-freedom juggling robot, Dynamics and Control 9 (1999), 67–90.


    推荐相关:

    Stabilization of periodic orbits in a wedge billiard.pdf

    Stabilization of periodic orbits in a wedge billiard_专业资料。point mass (ball) moves in the plane under the action of a constant gravitational field. ...

    ...stabilization of unstable periodic orbits in cha....pdf

    New method for stabilization of unstable periodic orbits in chaotic systems_专业资料。In this paper we present a new method of controlling periodic orbits ...

    ...of periodic orbits in polygonal outer billiard.pdf

    A proof of Culter's theorem on the existence of periodic orbits in polygonal outer billiard_专业资料。We discuss a recent result by C. Culter: every ...

    On Finding the Periodic Orbits of the Sinai Billiard.pdf

    the Periodic Orbits of the Sinai Billiard_专业...In the last years there has been a growing ...On the stabilization o... 暂无评价 12页 1下载...

    Alternative method to find orbits in chaotic systems.pdf

    periodic and non-periodic orbits in a chaotic ...stadium billiard, wedge billiard, diamagnetic Kepler...As a simple application of the method we ...

    Recurrence and periodic billiard orbits in polygons....pdf

    Recurrence and periodic billiard orbits in polygons...None the less, Gutkin and Troubetzkoy found a ...Stabilization of perio... 暂无评价 1页 免费 ...

    Periodic stabilization of a 1-DOF hopping robot on ....pdf

    Periodic stabilization of a 1-DOF hopping robot ...periodic orbits of a 1-DOF hopping robot moving...In case of interactions involving non-zero ...

    Billiard systems in three dimensions the boundary i....pdf

    Billiard systems in three dimensions the boundary integral equation and the ...of periodic orbits from a boundary integral equation for three-dimensional ...

    Numerical study of scars in a chaotic billiard.pdf

    Numerical study of scars in a chaotic billiard_专业资料。We study ...periodic orbits, the maximal intensity of the scar is independent of h, ?...

    ...in a Pseudointegrable Barrier Billiard....pdf

    Experimental Observation of Superscars in a Pseudointegrable Barrier Billiard ...scarring behavior which can be related to families of periodic orbits [4]...

    ...for stabilizing unstable periodic orbits in a no....pdf

    Pulsive feedback control for stabilizing unstable periodic orbits in a ...cient conditions for the stabilization and synchronization of Lorenz systems ...

    Periodic orbits in the case of a zero eigenvalue.pdf

    Periodic orbits in the case of a zero eigenvalue_专业资料。We will show that if a dynamical system has enough constants of motion then a Moser-...

    Periodic Orbits in Arithmetical Chaos.pdf

    These facts may serve as a motivation to study length spectra of periodic orbits in arithmetical chaos more thoroughly. The aim of this article now is ...

    Efficient detection of periodic orbits in chaotic s....pdf

    In systems with chaotic behaviour, unstable periodic orbits (UPOs) form a “skeleton” for chaotic trajectories [3]. A well regarded de?nition of chaos...

    NON-SMOOTH CONTINUATION OF PERIODIC ORBITS IN A CHA....pdf

    NON-SMOOTH CONTINUATION OF PERIODIC ORBITS IN A CHAOTIC BUCK CONVERTER_专业...Olivar, “Time-Delay Stabilization of the Buck Converter,” Proc. of the ...

    ...and Stability of Classical Periodic Orbits in Re....pdf

    Supershell Effect and Stability of Classical Periodic Orbits in Reflection-Asymmetric Super - A s...

    Near action degeneracy of periodic orbits in system....pdf

    Near action degeneracy of periodic orbits in systems with non-conventional time...rst o?-diagonal contribution to the orthogonal form factor for a billiard ...

    Periodic Orbits and Spectral Statistics of Pseudoin....pdf

    Periodic Orbits and Spectral Statistics of Pseudointegrable Billiards We demonstrate for a generic pseudointegrable billiard that the number of periodic orbit fa...

    Electronic and atomic shell structure in aluminum n....pdf

    Electronic Structure of ... 暂无评价 7页 免费 Electronic shell structu......a series in classical periodic orbits in a circular billiard [2, 5, 10]...

    Periodic orbits near bifurcations of codimension tw....pdf

    更多>>We investigate classical and semiclassical aspects of codimension--two bifurcations of periodic orbits in Hamiltonian systems. A classification of these ...

    江苏七位体彩开奖结果 | 江苏七位体彩开奖结果
    All rights reserved Powered by 江苏七位体彩开奖结果 江苏七位体彩开奖结果 www.jwbw.net
    copyright ©right 2010-2021。
    文档资料库内容来自网络,如有侵犯请联系客服。[email protected]
  • 喀什12个贫困村实现生活垃圾集中处置 2019-06-30
  • 起底特大网络盗刷案:数亿人的秘密因一习惯被盗卖 2019-06-30
  • 黄淳的专栏作者中国国家地理网 2019-06-12
  • 坚守传统手工包粽 探访沪上老字号粽子生产车间 2019-06-10
  • 满满的都是屏 OPPO妹子最爱手机曝光 2019-06-10
  • 北京进入旅游旺季 警察提示游客需防揽客者连环设套忽悠购物 2019-06-08
  • 我写文章不是为了别人的赞许,是为了讨论问题,让人有思考的价值,就像你网名一样,探寻真理。我并非就全盘赞成市场经济,只是在讨论它的合理性,在文中也提问,“既然我们 2019-06-08
  • 山东假存单揽储1.6亿难追回,该省另一相似案件银行被判赔 2019-05-31
  • 天上不会掉馅饼,想要富起来,就要把别人的据为己有,能把别人的据为己有的问世间能有谁,能有几人,所谓的专家明白了吗。 2019-05-31
  • 乌鲁木齐市中级人民法院庭审在线直播 2019-05-21
  • 第530期:为何吃新鲜蔬果能抗肿瘤、强免疫……?因为有“它”! 2019-05-19
  • 世界杯大中华区官方票代谈假票门黄牛倒票行为 2019-05-19
  • 英媒:漫步北京上海,仿佛踏入未来 2019-05-17
  • 2017年各地领导干部给网友书写23万封回信 2019-05-17
  • 回到1396年的波斯街头文章中国国家地理网 2019-04-23
  • 葡京赌侠3 秒速飞艇必赢计划软件 体彩排列3专家杀号最准技巧 新浪彩票充20送10 中国竞彩网手机可以买吗 棒球小子街机免费下载 大乐透图表走势图表 时时彩玩单双计划 二八杠规律推算法 第一平码加7 2019彩票销售管理条例 篮彩足彩 湖北快3查询结果 法甲的马赛系 手机怎么查询刮刮乐中奖了