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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: | 11 Sep 2023 13:23 |
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