Exciting efficient oscillations in nonlinear mechanical systems through Eigenmanifold stabilization

Journal article (2021)

Authors

C. Della Santina German Aerospace Center, Technische Universität München, Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
Alin Albu-Schaeffer Technische Universität München, German Aerospace Center
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 C. Della Santina, Alin Albu-Schaeffer
DOI: https://doi.org/10.1109/LCSYS.2020.3048228
PID control Robotics Robots Oscillators Trajectory Flexible structures Springs Nonlinear dynamical systems Robot kinematics Stability of nonlinear systems Mechanical systems Control applications.
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Published Date

2021

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

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.

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