Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Della Santina, C. (TU Delft Learning & Autonomous Control; Technische Universität München; German Aerospace Center)
Albu-Schaeffer, Alin (Technische Universität München; German Aerospace Center)

2021

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.

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

http://resolver.tudelft.nl/uuid:11fd3374-6e83-4a1e-bb70-2e0198e4ba86

https://doi.org/10.1109/LCSYS.2020.3048228

2021-06-30

2475-1456

IEEE Control Systems Letters, 5 (6), 1916-1921

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.

Institutional Repository

journal article

© 2021 C. Della Santina, Alin Albu-Schaeffer