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Friction exists in every mechanical system, and exerts bad influences on its operation performance, which will cause cylinder crawling phenomenon when it runs under low speed. In this paper, the analysis of the cylinder crawling phenomenon is proposed, as friction is complicated and impossible to measure its exact value, the estimation of friction by using extended Kalman filter (EKF) is introduced,...
This paper presents a method for completing Lagrangian hybrid systems models in a formal manner. That is, given a Lagrangian hybrid system, i.e., a hybrid system that models a mechanical system undergoing impacts, we present a systematic method in which to extend executions of this system past Zeno points by adding an additional domain to the hybrid model. Moreover, by utilizing results that provide...
A class of mechanical systems with many unactuated degrees of freedom is studied. An analytical method for computing coefficients of a linear controlled system, solutions of which approximate dynamics of transverse part of coordinates of an underactuated mechanical system along a feasible motion, is proposed. The procedure is constructive and is based on a particular choice of coordinates in a vicinity...
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