Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems
(2005) p.4035-4040- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/535831
- author
- Shiriaev, Anton ; Robertsson, Anders LU ; Perram, John and Sandberg, Anders
- organization
- publishing date
- 2005
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Orbital feedback stabilization, Hybrid systems, Lyapunov lemma, Virtual holonomic constraints, Motion planning
- host publication
- Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference
- pages
- 4035 - 4040
- publisher
- Seville, Spain
- external identifiers
-
- scopus:33847202922
- ISBN
- 0-7803-9568-9
- language
- English
- LU publication?
- yes
- id
- 6fda416b-3c4f-4ad5-b167-cc04b45b33ba (old id 535831)
- alternative location
- http://ieeexplore.ieee.org/iel5/10559/33412/01582793.pdf?tp=&arnumber=1582793&isnumber=33412
- date added to LUP
- 2016-04-04 11:56:37
- date last changed
- 2022-01-29 22:41:48
@inproceedings{6fda416b-3c4f-4ad5-b167-cc04b45b33ba, abstract = {{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.}}, author = {{Shiriaev, Anton and Robertsson, Anders and Perram, John and Sandberg, Anders}}, booktitle = {{Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference}}, isbn = {{0-7803-9568-9}}, keywords = {{Orbital feedback stabilization; Hybrid systems; Lyapunov lemma; Virtual holonomic constraints; Motion planning}}, language = {{eng}}, pages = {{4035--4040}}, publisher = {{Seville, Spain}}, title = {{Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems}}, url = {{https://lup.lub.lu.se/search/files/5891008/625591.pdf}}, year = {{2005}}, }