Della Santina, Cosimo und Albu-Schäffer, Alin Olimpiu (2020) Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. IEEE Control Systems Letters, Seite 1. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3048228. ISSN 2475-1456.
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Kurzfassung
Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. The present work moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors in mechanical systems with non-Euclidean metric. Rather than forcing a prescribed evolution, we first investigate the regular behaviors that can be autonomously expressed by the system, and then we design a controller that excites them. A first implementation of this concept is proposed, analyzed, and tested in simulation.
elib-URL des Eintrags: | https://elib.dlr.de/140201/ | ||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||
Titel: | Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization | ||||||||||||
Autoren: |
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Datum: | 30 Dezember 2020 | ||||||||||||
Erschienen in: | IEEE Control Systems Letters | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/LCSYS.2020.3048228 | ||||||||||||
Seitenbereich: | Seite 1 | ||||||||||||
Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||
ISSN: | 2475-1456 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Robotics, stability of nonlinear systems, PID control, flexible structures, control applications | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||
Hinterlegt am: | 11 Jan 2021 09:57 | ||||||||||||
Letzte Änderung: | 24 Okt 2023 12:04 |
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