Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems
Author
Summary, in English
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.
Department/s
Publishing year
2005
Language
English
Pages
4035-4040
Publication/Series
Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference
Full text
- Available as PDF - 220 kB
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Document type
Conference paper
Publisher
Seville, Spain
Topic
- Control Engineering
Keywords
- Orbital feedback stabilization
- Hybrid systems
- Lyapunov lemma
- Virtual holonomic constraints
- Motion planning
Status
Published
ISBN/ISSN/Other
- ISBN: 0-7803-9568-9