DocumentCode
3117577
Title
Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems
Author
Shiriaev, A. ; Robertsson, A. ; Perram, J. ; Sandberg, A.
Author_Institution
Department of Applied Physics and Electronics, Umeå University, SE-901 87 Umeå, SWEDEN, anton.shiriaev@tfe.umu.se
fYear
2005
fDate
12-15 Dec. 2005
Firstpage
4035
Lastpage
4040
Abstract
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.
Keywords
Hybrid systems; Lyapunov lemma; Motion planning; Orbital feedback stabilization; Virtual holonomic constraints; Control systems; Equations; Feedback; Frequency; Mechanical systems; Paper technology; Physics; Production systems; Stability analysis; Technology planning; Hybrid systems; Lyapunov lemma; Motion planning; Orbital feedback stabilization; Virtual holonomic constraints;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN
0-7803-9567-0
Type
conf
DOI
10.1109/CDC.2005.1582793
Filename
1582793
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