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
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;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1430198
