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Composite control of the n -link chained mechanical systems

Jiří Zikmund (2008)

Kybernetika

In this paper, a new control concept for a class of underactuated mechanical system is introduced. Namely, the class of n -link chains, composed of rigid links, non actuated at the pivot point is considered. Underactuated mechanical systems are those having less actuators than degrees of freedom and thereby requiring more sophisticated nonlinear control methods. This class of systems includes among others frequently used for the modeling of walking planar structures. This paper presents the stabilization...

Conjugacy of normally tangent diffeomorphisms : a tool for treating moduli of stability

Patrick Bonckaert (1990)

Annales de l'institut Fourier

We give sufficient conditions for the conjugacy of two diffeomorphisms coinciding on a common invariant submanifold V and with equal normal derivative; moreover we obtain that the homeomorphism h realizing this conjugacy satisfies additional inequalities. These inequalities, implying also the existence of the normal derivative of h along V, serve to extend this conjugacy towards regions where moduli of stability are present.

Continuum-wise expansive diffeomorphisms.

Kazuhiro Sakai (1997)

Publicacions Matemàtiques

In this paper, we show that the C1 interior of the set of all continuum-wise expansive diffeomorphisms of a closed manifold coincides with the C1 interior of the set of all expansive diffeomorphisms. And the C1 interior of the set of all continuum-wise fully expansive diffeomorphisms on a surface is investigated. Furthermore, we have necessary and sufficient conditions for a diffeomorphism belonging to these open sets to be Anosov.

Formes de Pfaff à singularités non dégénérées

Edward Wagneur (1978)

Annales de l'institut Fourier

On étudie en dimension n 3 , la C 1 -stabilité locale et globale (sur une variété compacte), ainsi que l’existence d’intégrales premières, d’une forme de Pfaff complètement intégrable à singularités non dégénérées ( C ) .

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