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
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;
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
DOI :
10.1109/CDC.2005.1582793
