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, 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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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/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
Title: | Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling | ||||||||||||||||||||
Authors: |
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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: | Yes | ||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||
DOI: | 10.1109/CDC45484.2021.9683228 | ||||||||||||||||||||
Page Range: | pp. 2448-2455 | ||||||||||||||||||||
Publisher: | IEEE | ||||||||||||||||||||
ISSN: | 0191-2216 | ||||||||||||||||||||
ISBN: | 978-166543659-5 | ||||||||||||||||||||
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 Start Date: | 13 December 2021 | ||||||||||||||||||||
Event End Date: | 15 December 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: | 24 Apr 2024 20:43 |
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