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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.

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

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