Meny

Du är här

Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems

Författare:
Publiceringsår: 2005
Språk: Engelska
Sidor: 4035-4040
Publikation/Tidskrift/Serie: Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference
Dokumenttyp: Konferensbidrag
Förlag: Seville, Spain

Sammanfattning

The paper presents sufficient and almost necessary conditions for the presence of periodic solutions for zero dynamics of virtually constrained under-actuated Euler-Lagrange system. This result is further extended to detect periodic solutions for a class of hybrid systems in the plane and analyze their orbital stability and instability. Illustrative examples are given.

Disputation

Nyckelord

  • Technology and Engineering
  • Orbital feedback stabilization
  • Hybrid systems
  • Lyapunov lemma
  • Virtual holonomic constraints
  • Motion planning

Övriga

Published
Yes
  • ISBN: 0-7803-9568-9

Box 117, 221 00 LUND
Telefon 046-222 00 00 (växel)
Telefax 046-222 47 20
lu [at] lu [dot] se

Fakturaadress: Box 188, 221 00 LUND
Organisationsnummer: 202100-3211
Om webbplatsen