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Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems

Shiriaev, Anton; Robertsson, Anders LU ; Perram, John and Sandberg, Anders (2005) In Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Orbital feedback stabilization, Hybrid systems, Lyapunov lemma, Virtual holonomic constraints, Motion planning
in
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
2007-09-25 10:41:14
date last changed
2016-10-13 04:48:40
@misc{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},
  isbn         = {0-7803-9568-9},
  keyword      = {Orbital feedback stabilization,Hybrid systems,Lyapunov lemma,Virtual holonomic constraints,Motion planning},
  language     = {eng},
  pages        = {4035--4040},
  publisher    = {ARRAY(0x89158d0)},
  series       = {Proceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference},
  title        = {Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems},
  year         = {2005},
}