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Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Della Santina, Cosimo and Lakatos, Dominic and Bicchi, Antonio and 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, pp. 2448-2455. IEEE. CDC, The 60th IEEE Conference on Decision and Control, 13.-15.Dez. 2021, Austin, Texas, USA. doi: 10.1109/CDC45484.2021.9683228. ISSN 0191-2216.

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Official URL: https://ieeexplore.ieee.org/document/9683228

Abstract

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

Item URL in elib:https://elib.dlr.de/143345/
Document Type:Conference or Workshop Item (Speech)
Title:Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Della Santina, CosimoTU DelftUNSPECIFIED
Lakatos, Dominicdominic.lakatos (at) dlr.dehttps://orcid.org/0000-0002-1841-9972
Bicchi, AntonioUniversity of Pisa, Italy; Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Albu-Schäffer, Alin OlimpiuAlin.Albu-Schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Date:13 December 2021
Journal or Publication Title:60th IEEE Conference on Decision and Control, CDC 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.1109/CDC45484.2021.9683228
Page Range:pp. 2448-2455
Publisher:IEEE
ISSN:0191-2216
Status:Published
Keywords:Torque, System dynamics, Control systems, Nonlinear dynamical systems, Trajectory, Steady-state, Mechanical systems
Event Title:CDC, The 60th IEEE Conference on Decision and Control
Event Location:Austin, Texas, USA
Event Type:international Conference
Event Dates:13.-15.Dez. 2021
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Robot Dynamics & Simulation [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:28 Mar 2022 09:08
Last Modified:28 Mar 2022 09:08

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