Stabilization of periodic sweeping processes and asymptotic average velocity for soft locomotors with dry friction
We study the asymptotic stability of periodic solutions for sweeping processes defined by a
polyhedron with translationally moving faces. Previous results are improved by obtaining a …
polyhedron with translationally moving faces. Previous results are improved by obtaining a …
On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
M Dalla Via, F Fassò, N Sansonetto - Journal of Nonlinear Science, 2022 - Springer
We study the class of nonholonomic mechanical systems formed by a heavy symmetric ball
that rolls without sliding on a surface of revolution, which is either at rest or rotates about its …
that rolls without sliding on a surface of revolution, which is either at rest or rotates about its …
On the trajectory generation of the hydrodynamic Chaplygin sleigh
N Sansonetto, M Zoppello - IEEE Control Systems Letters, 2020 - ieeexplore.ieee.org
In this letter we consider the asymptotic behaviour and the trajectory generation problem for
the Chaplygin sleigh interacting with a potential fluid. We investigate which trajectories can …
the Chaplygin sleigh interacting with a potential fluid. We investigate which trajectories can …
Gait controllability of length-changing slender microswimmers
Controllability results of four models of two-link microscale swimmers that are able to change
the length of their links are obtained. The problems are formulated in the framework of …
the length of their links are obtained. The problems are formulated in the framework of …
First Integrals and symmetries of nonholonomic systems
P Balseiro, N Sansonetto - Archive for Rational Mechanics and Analysis, 2022 - Springer
In nonholonomic mechanics, the presence of constraints in the velocities breaks the well-
understood link between symmetries and first integrals of holonomic systems, expressed by …
understood link between symmetries and first integrals of holonomic systems, expressed by …
Limit cycles for dynamic crawling locomotors with periodic prescribed shape
We study the asymptotic evolution of a family of dynamic models of crawling locomotion, with
the aim to introduce a well-posed characterization of a gait as a limit behaviour. The …
the aim to introduce a well-posed characterization of a gait as a limit behaviour. The …
On the dynamics of a heavy symmetric ball that rolls without sliding on a uniformly rotating surface of revolution
MD Via, F Fassò, N Sansonetto - arXiv preprint arXiv:2109.00236, 2021 - arxiv.org
We study the class of nonholonomic mechanical systems formed by a heavy symmetric ball
that rolls without sliding on a surface of revolution, which is either at rest or rotates about its …
that rolls without sliding on a surface of revolution, which is either at rest or rotates about its …