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Orbital stabilization of mechanical systems through semidefinite Lyapunov functions

Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2013) Orbital stabilization of mechanical systems through semidefinite Lyapunov functions. In: American Control Conference (ACC). The 2013 American Control Conference, 17-19 Jun 2013, Washington DC, USA.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/112842/
Document Type:Conference or Workshop Item (Speech)
Title:Orbital stabilization of mechanical systems through semidefinite Lyapunov functions
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:June 2013
Journal or Publication Title:American Control Conference (ACC)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Orbital stabilization Semidefinite Lyapunov function
Event Title:The 2013 American Control Conference
Event Location:Washington DC, USA
Event Type:international Conference
Event Dates:17-19 Jun 2013
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:14 Jul 2017 17:48
Last Modified:31 Jul 2019 20:10

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