Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints
Författare
Summary, in English
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.
Avdelning/ar
Publiceringsår
2004
Språk
Engelska
Sidor
1158-1163
Publikation/Tidskrift/Serie
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Volym
2
Fulltext
- Available as PDF - 193 kB
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Länkar
Dokumenttyp
Konferensbidrag
Förlag
IEEE - Institute of Electrical and Electronics Engineers Inc.
Ämne
- Control Engineering
Nyckelord
- Exponential Orbital Stabilization
- Bernoulli equation
- Virtual holonomic constraints
- Motion planning
Status
Published
ISBN/ISSN/Övrigt
- ISSN: 0191-2216