Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schaeffer

doi:10.1109/CDC45484.2021.9683228

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, 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

Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

Original language	English
Title of host publication	Proceedings of the 60h IEEE Conference on Decision and Control, CDC 2021
Publisher	IEEE
Pages	2448-2455
ISBN (Electronic)	978-1-6654-3659-5
DOIs	https://doi.org/10.1109/CDC45484.2021.9683228
Publication status	Published - 2021
Event	60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: 13 Dec 2021 → 17 Dec 2021

Conference

Conference	60th IEEE Conference on Decision and Control, CDC 2021
Country/Territory	United States
City	Austin
Period	13/12/21 → 17/12/21

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.

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Exciting_Nonlinear_Modes_of_Conservative_Mechanical_Systems_by_Operating_a_Master_Variable_DecouplingFinal published version, 3.17 MB

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title = "Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling",

abstract = "Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation. ",

author = "Santina, {Cosimo Della} and Dominic Lakatos and Antonio Bicchi 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.; 60th IEEE Conference on Decision and Control, CDC 2021 ; Conference date: 13-12-2021 Through 17-12-2021",

year = "2021",

doi = "10.1109/CDC45484.2021.9683228",

language = "English",

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booktitle = "Proceedings of the 60h IEEE Conference on Decision and Control, CDC 2021",

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Santina, CD, Lakatos, D, Bicchi, A & Albu-Schaeffer, A 2021, Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. in Proceedings of the 60h IEEE Conference on Decision and Control, CDC 2021. IEEE, pp. 2448-2455, 60th IEEE Conference on Decision and Control, CDC 2021, Austin, United States, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9683228

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. / Santina, Cosimo Della; Lakatos, Dominic; Bicchi, Antonio et al.
Proceedings of the 60h IEEE Conference on Decision and Control, CDC 2021. IEEE, 2021. p. 2448-2455.

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

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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.

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N2 - Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

AB - Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

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Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

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