Explicit formulas for general integrals of motion for a class of mechanical systems subject to virtual constraints

Proceedings of the IEEE Conference on Decision and Control

Volumn 2, Issue , 2004, Pages 1158-1163

  Shiriaev, A ^a   Perram, J ^b   Robertsson, A ^c   Sandberg, A ^a  

^a UMEÅ UNIVERSITY   (Sweden)

^b UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

^c LUND UNIVERSITY   (Sweden)

Author keywords

Bernoulli equation; Exponential Orbital Stabilization; Motion planning; Virtual holonomic constraints

Indexed keywords

COMPUTER SIMULATION; CONSTRAINT THEORY; DEGREES OF FREEDOM (MECHANICS); FEEDBACK; FUNCTIONS; MATRIX ALGEBRA; MECHANICS; MOTION PLANNING; NONLINEAR SYSTEMS; OSCILLATIONS; PENDULUMS; RICCATI EQUATIONS; THEOREM PROVING;

BERNOULLI EQUATIONS; EXPONENTIAL ORBITAL STABILIZATION; MECHANICAL SYSTEMS; VIRTUAL HOLONOMIC CONSTRAINTS;

INTEGRAL EQUATIONS;

EID: 14344254974     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2004.1430198     Document Type: Conference Paper

References (3)

1. Hartman Ph. Ordinary Differential Equations, John Wiley & Sons, 1964.
2. Shiriaev A. and C. Canudas-de-Wit. Virtual Constraints: Constructive Tool for an Orbital Stabilization, submitted to IEEE Trans. on AC.
3. http://www.tfe.umu.se/forskning/Control Systems Analysis and Design/index.html