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A review on nonlinear modes in conservative mechanical systems

Albu-Schäffer, Alin Olimpiu and Della Santina, Cosimo (2020) A review on nonlinear modes in conservative mechanical systems. Annual Reviews in Control, pp. 1-23. Elsevier. doi: 10.1016/j.arcontrol.2020.10.002. ISSN 1367-5788.

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Official URL: https://doi.org/10.1016/j.arcontrol.2020.10.002


This paper discusses the theory of oscillatory normal modes, and its extension to general multi-body mechanical systems. We first review the efforts to generalize modal analysis to the non-linear case. This body of knowledge is vast and spread across several subfields of mathematics, physics, and engineering. We concisely summarize these results, and connect them together using a language familiar to the control theorist. We then propose a direct way of extending nonlinear modes to mechanical systems with a non Euclidean metrics (e.g. robots).

Item URL in elib:https://elib.dlr.de/137716/
Document Type:Article
Title:A review on nonlinear modes in conservative mechanical systems
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Della Santina, CosimoTUMUNSPECIFIED
Date:28 October 2020
Journal or Publication Title:Annual Reviews in Control
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1016/j.arcontrol.2020.10.002
Page Range:pp. 1-23
Series Name:Elsevier
Keywords:nonlinear modes, mechanical systems
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:24 Nov 2020 17:16
Last Modified:24 Nov 2020 17:16

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