کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
752365 895418 2006 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Periodic motion planning for virtually constrained Euler–Lagrange systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Periodic motion planning for virtually constrained Euler–Lagrange systems
چکیده انگلیسی

The paper suggests an explicit form of a general integral of motion for some classes of dynamical systems including n  -degrees of freedom Euler–Lagrange systems subject to (n-1)(n-1) virtual holonomic constraints. The knowledge of this integral allows to extend the classical results due to Lyapunov for detecting a presence of periodic solutions for a family of second order systems, and allows to solve the periodic motion planning task for underactuated Euler–Lagrange systems, when there is only one not directly actuated generalized coordinate. As an illustrative example, we have shown how to create a periodic oscillation of the pendulum for a cart–pendulum system and how then to make them orbitally exponentially stable following the machinery developed in [A. Shiriaev, J. Perram, C. Canudas-de-Wit, Constructive tool for an orbital stabilization of underactuated nonlinear systems: virtual constraint approach, IEEE Trans. Automat. Control 50 (8) (2005) 1164–1176]. The extension here also considers time-varying virtual constraints.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Systems & Control Letters - Volume 55, Issue 11, November 2006, Pages 900–907
نویسندگان
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