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Switching Based Limit Cycle Control for Compliantly Actuated Second-Order Systems

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

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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
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lakatos, Dominicdominic.lakatos (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Date:August 2014
Journal or Publication Title:19th IFAC World Congress
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
DOI :10.3182/20140824-6-ZA-1003.02001
Page Range:pp. 6392-6399
Series Name:Proceedings of the IFAC World Congress
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
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

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