DocumentCode
435103
Title
Explicit formulas for general integrals of motion for a class of mechanical systems subject to virtual constraints
Author
Shiriaev, A. ; Perram, J. ; Robertsson, A. ; Sandberg, A.
Author_Institution
Dept. of Appl. Phys. & Electron., Umea Univ., Sweden
Volume
2
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
1158
Abstract
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.
Keywords
feedback; kinematics; motion control; nonlinear dynamical systems; stability; Bernoulli equation; dynamical systems; exponential orbital stabilization; general motion integrals; motion planning; n-degree-of-freedom mechanical systems; nonlinear feedback systems; virtual holonomic constraints; Automatic control; Control systems; Feedback; Force control; Frequency; Integral equations; Mechanical systems; Nonlinear dynamical systems; Physics; Production systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1430198
Filename
1430198
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