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Calzolari, Davide and Della Santina, Cosimo and Albu-Schäffer, Alin Olimpiu (2020) Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia. IEEE Control Systems Letters, 5 (2), pp. 445-450. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3004196. ISSN 2475-145.
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Abstract
This letter provides a proof of global exponential stability for a large class of uni-dimensional mechanical systems with configuration dependent inertia and impedance. It also contextually contributes with a strict bound on the exponential decay, connecting the Lyapunov exponent of the nonlinear system with the convergence rate of the corresponding worst-case linear system.
| Item URL in elib: | https://elib.dlr.de/137790/ | ||||||||||||
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| Document Type: | Article | ||||||||||||
| Title: | Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia | ||||||||||||
| Authors: |
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| Date: | 23 June 2020 | ||||||||||||
| Journal or Publication Title: | IEEE Control Systems Letters | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Open Access: | No | ||||||||||||
| Gold Open Access: | No | ||||||||||||
| In SCOPUS: | Yes | ||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||
| Volume: | 5 | ||||||||||||
| DOI: | 10.1109/LCSYS.2020.3004196 | ||||||||||||
| Page Range: | pp. 445-450 | ||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
| ISSN: | 2475-145 | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | Robotics, stability of nonlinear systems, lyapunov methods, damped nonlinear oscillations | ||||||||||||
| 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 17:17 | ||||||||||||
| Last Modified: | 23 Jul 2022 13:45 |
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