Tell a friend
Print
Lakatos, Dominic and Albu-Schäffer, Alin (2014) Switching Based Limit Cycle Control for Compliantly Actuated Second-Order Systems. In: 19th IFAC World Congress, 19 (1), pp. 6392-6399. IFAC. 19th IFAC World Congress, 24.-29. Aug. 2014, Kapstadt, Südafrika. DOI: 10.3182/20140824-6-ZA-1003.02001 ISBN 978-3-902823-62-5
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
243kB |
Abstract
This paper derives a stability statement for a novel, switching based limit cycle control. The stability proof is based on multiple Lyapunov functions and a new interpretation of contraction analysis. By showing that the dissipated energy on the cycle increases with increasing velocity, while the injected energy is constant, the emergence of an attractive limit cycle is shown. The approach applies for general, nonlinear, and compliantly actuated second-order systems, with positive definite plant parameters and non-aperiodic solutions. An analysis of the controller parameters reveals, that for the majority of parameters, global attractiveness of the limit cycle can be guaranteed.
| Item URL in elib: | https://elib.dlr.de/93374/ | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | |||||||||
| Title: | Switching Based Limit Cycle Control for Compliantly Actuated Second-Order Systems | |||||||||
| Authors: |
| |||||||||
| Date: | August 2014 | |||||||||
| Journal or Publication Title: | 19th IFAC World Congress | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | Yes | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Volume: | 19 | |||||||||
| DOI : | 10.3182/20140824-6-ZA-1003.02001 | |||||||||
| Page Range: | pp. 6392-6399 | |||||||||
| Publisher: | IFAC | |||||||||
| Series Name: | Proceedings of the IFAC World Congress | |||||||||
| ISBN: | 978-3-902823-62-5 | |||||||||
| Status: | Published | |||||||||
| Keywords: | Stability of nonlinear systems Stability of hybrid systems Lyapunov methods Limit cylces | |||||||||
| Event Title: | 19th IFAC World Congress | |||||||||
| Event Location: | Kapstadt, Südafrika | |||||||||
| Event Type: | international Conference | |||||||||
| Event Dates: | 24.-29. Aug. 2014 | |||||||||
| Organizer: | IFAC | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||
| HGF - Program: | Space | |||||||||
| HGF - Program Themes: | Space Technology | |||||||||
| DLR - Research area: | Raumfahrt | |||||||||
| DLR - Program: | R SY - Technik für Raumfahrtsysteme | |||||||||
| DLR - Research theme (Project): | R - Vorhaben Terrestrische Assistenz-Robotik, R - Vorhaben Laufroboter/Lokomotion | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | |||||||||
| Deposited By: | Lakatos, Dominic | |||||||||
| Deposited On: | 09 Jan 2015 16:31 | |||||||||
| Last Modified: | 31 Jul 2019 19:50 |
Repository Staff Only: item control page
