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.
Original language | English |
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Title of host publication | IFAC-PapersOnLine |
Subtitle of host publication | Proceedings 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016) |
Editors | Andrew Teel |
Place of Publication | Laxenburg, Austria |
Publisher | Elsevier |
Pages | 339-344 |
DOIs | |
Publication status | Published - 2016 |
Event | 10th IFAC Symposium on Nonlinear Control Systems - Monterey, United States Duration: 23 Aug 2016 → 25 Aug 2016 Conference number: 10 |
Publication series
Name | IFAC-PapersOnLine |
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Number | 18 |
Volume | 49 |
Conference
Conference | 10th IFAC Symposium on Nonlinear Control Systems |
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Abbreviated title | NOLCOS 2016 |
Country/Territory | United States |
City | Monterey |
Period | 23/08/16 → 25/08/16 |
Keywords
- hybrid systems
- Lyapunov stability
- measure differential inclusions
- Synchronization
- unilateral constraints