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

Shiriaev, Anton; Perram, John; Robertsson, Anders LU and Sandberg, Anders LU (2004) In Decision and Control, 2004. CDC. 43rd IEEE Conference on 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Exponential Orbital Stabilization, Bernoulli equation, Virtual holonomic constraints, Motion planning
in
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
2007-09-25 10:42:18
date last changed
2017-01-01 06:56:40
@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},
  keyword      = {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},
  volume       = {2},
  year         = {2004},
}