Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5002336 | IFAC-PapersOnLine | 2016 | 6 Pages |
Abstract
This paper addresses the controlled synchronization problem of mechanical systems subjected to a geometric unilateral constraint as well as the design of a switching coupling law to obtain synchronization. To define the synchronization problem, we propose a distance function induced by the quotient metric, which is based on an equivalence relation using the impact map. A Lyapunov function is constructed to investigate the synchronization problem for two identical one-dimensional mechanical systems. Sufficient conditions for the individual systems and their controlled interaction are provided under which synchronization can be ensured. We present a (coupling) control law which ensures global synchronization, also in the presence of grazing trajectories and accumulation points (Zeno behavior). The results are illustrated using a numerical example.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Michael Baumann, J.J. Benjamin Biemond, Remco I. Leine, Nathan van de Wouw,