Della Santina, Cosimo und Lakatos, Dominic und Bicchi, Antonio und Albu-Schäffer, Alin Olimpiu (2021) Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. In: 60th IEEE Conference on Decision and Control, CDC 2021, Seiten 2448-2455. IEEE. CDC, The 60th IEEE Conference on Decision and Control, 2021-12-13 - 2021-12-15, Austin, Texas, USA. doi: 10.1109/CDC45484.2021.9683228. ISBN 978-166543659-5. ISSN 0191-2216.
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Offizielle URL: https://ieeexplore.ieee.org/document/9683228
Kurzfassung
Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metric. Recent work has shown that hyper-efficient oscillations can be excited by simple controllers, which simultaneously stabilize an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that may not be fulfilled by the controlled system. This paper overcomes these limitations, by allowing for a partial dynamic compensation, which produces an advantageous decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates, which are induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation
elib-URL des Eintrags: | https://elib.dlr.de/143345/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling | ||||||||||||||||||||
Autoren: |
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Datum: | 13 Dezember 2021 | ||||||||||||||||||||
Erschienen in: | 60th IEEE Conference on Decision and Control, CDC 2021 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||
DOI: | 10.1109/CDC45484.2021.9683228 | ||||||||||||||||||||
Seitenbereich: | Seiten 2448-2455 | ||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||
ISSN: | 0191-2216 | ||||||||||||||||||||
ISBN: | 978-166543659-5 | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Torque, System dynamics, Control systems, Nonlinear dynamical systems, Trajectory, Steady-state, Mechanical systems | ||||||||||||||||||||
Veranstaltungstitel: | CDC, The 60th IEEE Conference on Decision and Control | ||||||||||||||||||||
Veranstaltungsort: | Austin, Texas, USA | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 13 Dezember 2021 | ||||||||||||||||||||
Veranstaltungsende: | 15 Dezember 2021 | ||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Roboterdynamik & Simulation [RO] | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||
Hinterlegt am: | 28 Mär 2022 09:08 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:43 |
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