Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Cosimo Della Santina, Alin Albu-Schaeffer

Research output: Contribution to journalArticleScientificpeer-review

11 Citations (Scopus)
25 Downloads (Pure)

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 languageEnglish
Pages (from-to)1916-1921
JournalIEEE Control Systems Letters
Volume5
Issue number6
DOIs
Publication statusPublished - 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-care

Otherwise 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

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