Explicit formulas for general integrals of motion for a class of mechanical systems subject to virtual constraints
2004 (English)In: 2004 43rd IEEE conference on decision and control (CDC), vols 1-5, New York: IEEE conference proceedings, 2004, Vol. 2, 1158-1163 p.Conference paper (Refereed)Text
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.
Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2004. Vol. 2, 1158-1163 p.
, IEEE conference on decision and control - proceedings, ISSN 0191-2216
motion planning, Bernoulli equation, exponential orbital stabilization, virtual holonomic constraints
Robotics Control Engineering Computer Science
IdentifiersURN: urn:nbn:se:umu:diva-122182DOI: 10.1109/CDC.2004.1430198ISI: 000226745601006ISBN: 0-7803-8682-5OAI: oai:DiVA.org:umu-122182DiVA: diva2:938631
43rd IEEE Conference on Decision and Control, DEC 14-17, 2004, San Diego, CA