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- Shiriaev, Anton S, et al.
(författare)
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Periodic motion planning for virtually constrained (hybrid) mechanical systems
- 2005
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Ingår i: 2005 44th IEEE conference on decision and control & European control conference, vols 1-8. - New York : IEEE conference proceedings. - 0780395670 - 0780395689 ; , s. 4035-4040
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Konferensbidrag (refereegranskat)abstract
- The paper presents sufficient and almost necessary conditions for the presence of periodic solutions for zero dynamics of virtually constrained under-actuated Euler-Lagrange system. This result is further extended to detect periodic solutions for a class of hybrid systems in the plane and analyze their orbital stability and instability. Illustrative examples are given.
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