DocumentCode
1511429
Title
Asymptotic tracking of periodic trajectories for a simple mechanical system subject to nonsmooth impacts
Author
Menini, Laura ; Tornambe, Antonio
Author_Institution
Dipartimento di Inf. Sistemi e Produzione, Rome Univ., Italy
Volume
46
Issue
7
fYear
2001
fDate
7/1/2001 12:00:00 AM
Firstpage
1122
Lastpage
1126
Abstract
An infinitely rigid mass is considered, which moves on a plane under the action of proper control forces, within a closed region delimited by an infinitely massive and rigid circular barrier. A suitably amended tracking problem for a class of periodic trajectories, involving an infinite number of nonsmooth impacts between the mass and the barrier, is formally stated and solved
Keywords
impact (mechanical); kinematics; tracking; Birkhoff billiard; Liapunov methods; Lyapunov methods; asymptotic tracking; closed region; infinitely massive rigid circular barrier; infinitely rigid mass; nonsmooth impacts; periodic trajectories; proper control forces; simple mechanical system; Control systems; Force control; Friction; Lagrangian functions; Legged locomotion; Mechanical systems; Shape; Trajectory; Weight control;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.935068
Filename
935068
Link To Document