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Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Della Santina, Cosimo and Albu-Schäffer, Alin Olimpiu (2020) Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. IEEE Control Systems Letters, p. 1. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LCSYS.2020.3048228. ISSN 2475-1456.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/140201/
Document Type:Article
Title:Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Della Santina, CosimoUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:30 December 2020
Journal or Publication Title:IEEE Control Systems Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1109/LCSYS.2020.3048228
Page Range:p. 1
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2475-1456
Status:Published
Keywords:Robotics, stability of nonlinear systems, PID control, flexible structures, control applications
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:11 Jan 2021 09:57
Last Modified:23 Jul 2022 13:45

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