Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization

被引：20

作者：

Della Santina, Cosimo ^{[1
,2
,3
]}

Albu-Schaeffer, Alin ^{[1
,2
]}

机构：

[1] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82234 Oberpfaffenhofen, Germany

[2] Tech Univ Munich, Dept Math & Informat, D-80333 Garching, Germany

[3] Delft Univ Technol, Cognit Robot Dept, NL-2628 CD Delft, Netherlands

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 06期

基金：

欧洲研究理事会;

关键词：

Robots; Robot kinematics; Mechanical systems; Oscillators; Trajectory; Nonlinear dynamical systems; Springs; Robotics; stability of nonlinear systems; PID control; flexible structures; control applications; MODES;

D O I：

10.1109/LCSYS.2020.3048228

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. This letter moves a first step in the direction of combining control theory and nonlinear modal analysis towards the implementation of hyper-efficient oscillatory behaviors in mechanical systems with non-Euclidean metric. Rather than forcing a prescribed evolution, we first investigate the regular behaviors that can be autonomously expressed by the system, and then we design a controller that excites them. A first implementation of this concept is proposed, analyzed, and tested in simulation.

引用

页码：1916 / 1921

页数：6

共 24 条

[1] A review on nonlinear modes in conservative mechanical systems [J].

Albu-Schaeffer, Alin ;

Della Santina, Cosimo .

ANNUAL REVIEWS IN CONTROL, 2020, 50 :49-71

[2]

Buss BG, 2016, P AMER CONTR CONF, P4785, DOI 10.1109/ACC.2016.7526111

[3] The Quest for Natural Machine Motion An Open Platform to Fast-Prototype Articulated Soft Robots [J].

Della Santina, Cosimo ;

Piazza, Cristina ;

Gasparri, Gian Maria ;

Bonilla, Manuel ;

Catalano, Manuel ;

Garabini, Manolo ;

Grioli, Giorgio ;

Bicchi, Antonio .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2017, 24 (01) :48-56

[4]

Forni F, 2014, IEEE DECIS CONTR P, P3848, DOI 10.1109/CDC.2014.7039987

[5] Differential Dissipativity Theory for Dominance Analysis [J].

Forni, Fulvio ;

Sepulchre, Rodolphe .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2019, 64 (06) :2340-2351

[6]

Garofalo G., 2018, IFAC-PapersOnLine, V51, P73, DOI [DOI 10.1016/J.IFACOL.2018, 10.1016/j.ifacol.2018.11.520]

[7]

Haddadin S, 2012, IEEE INT CONF ROBOT, P3347, DOI 10.1109/ICRA.2012.6225190

[8]

Ichikawa A, 2001, LECT NOTES CONTR INF, V265, P1

[9]

Isidori A., 2016, ADV TXB CONTROL SIGN

[10] Nonlinear normal modes, Part I: A useful framework for the structural dynamicist [J].

Kerschen, G. ;

Peeters, M. ;

Golinval, J. C. ;

Vakakis, A. F. .

MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2009, 23 (01) :170-194

← 1 2 3 →