Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints
Publikation/Tidskrift/Serie: Decision and Control, 2004. CDC. 43rd IEEE Conference on
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.
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.
- Control Engineering
- Exponential Orbital Stabilization
- Bernoulli equation
- Virtual holonomic constraints
- Motion planning
- ISSN: 0191-2216