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Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems

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


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.



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


  • ISBN: 0-7803-9568-9

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