Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Cosimo Della Santina, Alin Albu-Schaeffer

Research output: Contribution to journalArticleScientificpeer-review

Abstract

Nonlinear modes are a well investigated concept in dynamical systems theory, extending the celebrated modal analysis of linear mechanical systems to nonlinear ones. The present work 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.

Original languageEnglish
Number of pages6
JournalIEEE Control Systems Letters
DOIs
Publication statusAccepted/In press - 1 Jan 2021

Keywords

  • Control applications.
  • Flexible structures
  • Mechanical systems
  • Nonlinear dynamical systems
  • Oscillators
  • PID control
  • Robot kinematics
  • Robotics
  • Robots
  • Springs
  • Stability of nonlinear systems
  • Trajectory

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