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
fDate :
7/1/2001 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
