Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints
(2004) 2. p.1158-1163- Abstract
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/536102
- author
- Shiriaev, Anton ; Perram, John ; Robertsson, Anders LU and Sandberg, Anders LU
- organization
- publishing date
- 2004
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Exponential Orbital Stabilization, Bernoulli equation, Virtual holonomic constraints, Motion planning
- host publication
- Decision and Control, 2004. CDC. 43rd IEEE Conference on
- volume
- 2
- pages
- 1158 - 1163
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- external identifiers
-
- scopus:14344254974
- ISSN
- 0191-2216
- language
- English
- LU publication?
- yes
- id
- ac696817-2c46-4c78-819b-3010cdde97db (old id 536102)
- alternative location
- http://ieeexplore.ieee.org/iel5/9774/30842/01430198.pdf?tp=&arnumber=1430198&isnumber=30842
- date added to LUP
- 2016-04-01 16:08:11
- date last changed
- 2022-01-28 17:33:37
@inproceedings{ac696817-2c46-4c78-819b-3010cdde97db, abstract = {{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.}}, author = {{Shiriaev, Anton and Perram, John and Robertsson, Anders and Sandberg, Anders}}, booktitle = {{Decision and Control, 2004. CDC. 43rd IEEE Conference on}}, issn = {{0191-2216}}, keywords = {{Exponential Orbital Stabilization; Bernoulli equation; Virtual holonomic constraints; Motion planning}}, language = {{eng}}, pages = {{1158--1163}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Explicit Formulas for General Integrals of Motion for a Class of Mechanical Systems Subject To Virtual Constraints}}, url = {{https://lup.lub.lu.se/search/files/4578862/625617.pdf}}, volume = {{2}}, year = {{2004}}, }