Garofalo, Gianluca und Ott, Christian und Albu-Schäffer, Alin (2013) Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. In: American Control Conference (ACC). The 2013 American Control Conference, 2013-06-17 - 2013-06-19, Washington DC, USA. doi: 10.1109/ACC.2013.6580733.
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Kurzfassung
In this paper we address the problem of generating asymptotically stable limit cycles for a fully actuated multibody mechanical system through a feedback control law. Using the concept of conditional stability the limit cycle can be designed for a lower dimensional dynamical system describing how the original one evolves on a chosen submanifold and the corresponding velocity space. Moreover, the controller can be split up in two parts that can be independently designed and analyzed in order to reach the constraint submanifold and then produce the oscillation. Even if designed assuming a lower dimensional system, the limit cycle implies a periodic motion for the whole system.
elib-URL des Eintrags: | https://elib.dlr.de/112842/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | Orbital stabilization of mechanical systems through semidefinite Lyapunov functions | ||||||||||||||||
Autoren: |
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Datum: | Juni 2013 | ||||||||||||||||
Erschienen in: | American Control Conference (ACC) | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/ACC.2013.6580733 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Orbital stabilization Semidefinite Lyapunov function | ||||||||||||||||
Veranstaltungstitel: | The 2013 American Control Conference | ||||||||||||||||
Veranstaltungsort: | Washington DC, USA | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 17 Juni 2013 | ||||||||||||||||
Veranstaltungsende: | 19 Juni 2013 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme | ||||||||||||||||
Hinterlegt von: | Garofalo, Dr. Ing. Gianluca | ||||||||||||||||
Hinterlegt am: | 14 Jul 2017 17:48 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:17 |
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