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Periodic motion planning for virtually constrained (hybrid) mechanical systems
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2005 (English)In: 2005 44th IEEE conference on decision and control & European control conference, vols 1-8, New York: IEEE conference proceedings, 2005, 4035-4040 p.Conference paper (Refereed)Text
Abstract [en]

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.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2005. 4035-4040 p.
, IEEE Conference on Decision and Control, ISSN 0191-2216
Keyword [en]
motion planning, hybrid systems, orbital feedback stabilization, virtual holonomic constraints, Lyapunov lemma
National Category
Robotics Control Engineering
URN: urn:nbn:se:umu:diva-120441ISI: 000240653703156ISBN: 0-7803-9567-0OAI: diva2:930486
44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC), DEC 12-15, 2005, Seville, SPAIN
Available from: 2016-05-24 Created: 2016-05-16 Last updated: 2016-06-17Bibliographically approved

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Shiriaev, Anton S
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