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Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints

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Author

Summary, in English

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.

Publishing year

2004

Language

English

Pages

1158-1163

Publication/Series

Decision and Control, 2004. CDC. 43rd IEEE Conference on

Volume

2

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • Exponential Orbital Stabilization
  • Bernoulli equation
  • Virtual holonomic constraints
  • Motion planning

Status

Published

ISBN/ISSN/Other

  • ISSN: 0191-2216