Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Cosimo Della Santina; Alin Albu-Schaeffer

doi:10.23919/ACC50511.2021.9482625

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Cosimo Della Santina, Alin Albu-Schaeffer

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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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 language	English
Title of host publication	Proceedings of the 2021 American Control Conference, ACC 2021
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	8-13
ISBN (Electronic)	978-1-6654-4197-1
DOIs	https://doi.org/10.23919/ACC50511.2021.9482625
Publication status	Published - 2021
Event	2021 American Control Conference, ACC 2021 - Virtual, New Orleans, United States Duration: 25 May 2021 → 28 May 2021

Conference

Conference	2021 American Control Conference, ACC 2021
Country/Territory	United States
City	Virtual, New Orleans
Period	25/05/21 → 28/05/21

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
PID control
Robotics
Stability of nonlinear systems

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10.23919/ACC50511.2021.9482625

Exciting_efficient_oscillations_in_nonlinear_mechanical_systems_through_Eigenmanifold_stabilizationFinal published version, 1.26 MB

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title = "Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization",

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.",

keywords = "Control applications, Flexible structures, PID control, Robotics, Stability of nonlinear systems",

author = "{Della Santina}, Cosimo and Alin Albu-Schaeffer",

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.; 2021 American Control Conference, ACC 2021 ; Conference date: 25-05-2021 Through 28-05-2021",

year = "2021",

doi = "10.23919/ACC50511.2021.9482625",

language = "English",

pages = "8--13",

booktitle = "Proceedings of the 2021 American Control Conference, ACC 2021",

publisher = "IEEE",

address = "United States",

}

Della Santina, C & Albu-Schaeffer, A 2021, Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. in Proceedings of the 2021 American Control Conference, ACC 2021. IEEE, Piscataway, NJ, USA, pp. 8-13, 2021 American Control Conference, ACC 2021, Virtual, New Orleans, United States, 25/05/21. https://doi.org/10.23919/ACC50511.2021.9482625

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization. / Della Santina, Cosimo; Albu-Schaeffer, Alin.
Proceedings of the 2021 American Control Conference, ACC 2021. Piscataway, NJ, USA: IEEE, 2021. p. 8-13.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Albu-Schaeffer, Alin

N1 - 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.

PY - 2021

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N2 - 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.

AB - 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.

KW - Control applications

KW - Flexible structures

KW - PID control

KW - Robotics

KW - Stability of nonlinear systems

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M3 - Conference contribution

AN - SCOPUS:85111929317

SP - 8

EP - 13

BT - Proceedings of the 2021 American Control Conference, ACC 2021

PB - IEEE

CY - Piscataway, NJ, USA

T2 - 2021 American Control Conference, ACC 2021

Y2 - 25 May 2021 through 28 May 2021

ER -

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

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Keywords

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