Abstract
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.
Original language | English |
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Pages (from-to) | 1916-1921 |
Journal | IEEE Control Systems Letters |
Volume | 5 |
Issue number | 6 |
DOIs | |
Publication status | Published - 2021 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.
Keywords
- Control applications.
- Flexible structures
- Mechanical systems
- Nonlinear dynamical systems
- Oscillators
- PID control
- Robot kinematics
- Robotics
- Robots
- Springs
- Stability of nonlinear systems
- Trajectory