Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems
Författare
Summary, in English
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.
Avdelning/ar
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
Fulltext
- Available as PDF - 220 kB
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Länkar
Dokumenttyp
Konferensbidrag
Förlag
Seville, Spain
Ämne
- Control Engineering
Nyckelord
- Orbital feedback stabilization
- Hybrid systems
- Lyapunov lemma
- Virtual holonomic constraints
- Motion planning
Status
Published
ISBN/ISSN/Övrigt
- ISBN: 0-7803-9568-9