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Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia

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/
Document Type:Article
Title:Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case With Configuration-Dependent Inertia
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Calzolari, DavideDavide.Calzolari (at) dlr.deUNSPECIFIED
Della Santina, CosimoTUMUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
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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