dc.contributor.author | Sætre, Christian Fredrik | |
dc.contributor.author | Shiriaev, Anton | |
dc.contributor.author | Pchelkin, Stepan | |
dc.contributor.author | Chemori, Ahmed | |
dc.date.accessioned | 2021-02-09T10:44:35Z | |
dc.date.available | 2021-02-09T10:44:35Z | |
dc.date.created | 2020-12-19T12:55:09Z | |
dc.date.issued | 2020 | |
dc.identifier.isbn | 978-3-907144-01-5 | |
dc.identifier.uri | https://hdl.handle.net/11250/2726854 | |
dc.description.abstract | Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an n-dimensional state-space, this requires knowledge of a set of (n -1) independent transverse coordinates, which can be nontrivial to find and whose definitions might vary for different motions (trajectories). In this paper, we consider instead a generic set of excessive transverse coordinates which are defined in terms of a particular parameterization of the motion and a projection operator recovering the "position" along the orbit. We present a constructive procedure for obtaining the corresponding transverse linearization, as well as state a sufficient condition for the existence of a feedback controller rendering the desired trajectory (locally) asymptotically orbitally stable. The presented approach is applied to stabilizing oscillations of the underactuated cart-pendulum system about its unstable upright position, in which a novel motion planning approach based on virtual constraints is utilized for trajectory generation. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.relation.ispartof | Proceedings of the 2020 European Control Conference (ECC) | |
dc.title | Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems | en_US |
dc.type | Chapter | en_US |
dc.description.version | acceptedVersion | en_US |
dc.identifier.doi | 10.23919/ECC51009.2020.9143866 | |
dc.identifier.cristin | 1861879 | |
dc.description.localcode | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
cristin.ispublished | true | |
cristin.fulltext | preprint | |
cristin.qualitycode | 1 | |