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Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints

Publiceringsår: 2004
Språk: Engelska
Sidor: 1158-1163
Publikation/Tidskrift/Serie: Decision and Control, 2004. CDC. 43rd IEEE Conference on
Volym: 2
Dokumenttyp: Konferensbidrag
Förlag: IEEE


The paper suggests an explicit form of a general integral of motion for some classes of dynamical systems including n-degree-of-freedom mechanical systems subject to (n-1) virtual holonomic constraints. The computation of this integral opens several possibilities for generating and further exponential orbital stabilization of solutions in nonlinear feedback systems. An illustrative example is given.



  • Technology and Engineering
  • Exponential Orbital Stabilization
  • Bernoulli equation
  • Virtual holonomic constraints
  • Motion planning


  • ISSN: 0191-2216

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