Periodic motion planning for virtually constrained (Hybrid) mechanical systems

Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05

Volumn 2005, Issue , 2005, Pages 4035-4040

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

^a UMEÅ UNIVERSITY   (Sweden)

^b LUND INSTITUTE OF TECHNOLOGY   (Sweden)

^c UNIVERSITY OF SOUTHERN DENMARK   (Denmark)

Author keywords

Hybrid systems; Lyapunov lemma; Motion planning; Orbital feedback stabilization; Virtual holonomic constraints

Indexed keywords

CONSTRAINT THEORY; LAGRANGE MULTIPLIERS; LYAPUNOV METHODS; STABILITY; TIME VARYING SYSTEMS;

HYBRID SYSTEMS; LYAPUNOV LEMMA; ORBITAL FEEDBACK STABILIZATION; VIRTUAL HOLONOMIC CONSTRAINTS;

MOTION PLANNING;

EID: 33847202922     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2005.1582793     Document Type: Conference Paper

References (8)

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8. Shiriaev A.S., J. Perram, A. Robertsson and A. Sandberg. "Explicit Formulas for General Integral of Motion for a Class of Mechanical Systems subject to Virtual Constraints," Proceedings of the 43rd IEEE Conference on Decision and Control (CDCz2004), pp. 1158-1163, Paradise Island, Bahamas, Dec 2004.