Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Cosimo Della Santina; Dominic Lakatos; Antonio Bicchi; Alin Albu-Schaeffer

doi:10.1109/CDC45484.2021.9683228

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Cosimo Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schaeffer

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Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

Original language	English
Title of host publication	60th IEEE Conference on Decision and Control, CDC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2448-2455
Number of pages	8
ISBN (Electronic)	9781665436595
DOIs	https://doi.org/10.1109/CDC45484.2021.9683228
State	Published - 2021
Event	60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: 13 Dec 2021 → 17 Dec 2021

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2021-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	60th IEEE Conference on Decision and Control, CDC 2021
Country/Territory	United States
City	Austin
Period	13/12/21 → 17/12/21

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10.1109/CDC45484.2021.9683228

Cite this

Santina, C. D., Lakatos, D., Bicchi, A., & Albu-Schaeffer, A. (2021). Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. In 60th IEEE Conference on Decision and Control, CDC 2021 (pp. 2448-2455). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2021-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC45484.2021.9683228

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title = "Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling",

abstract = "Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.",

author = "Santina, {Cosimo Della} and Dominic Lakatos and Antonio Bicchi and Alin Albu-Schaeffer",

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year = "2021",

doi = "10.1109/CDC45484.2021.9683228",

language = "English",

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Santina, CD, Lakatos, D, Bicchi, A & Albu-Schaeffer, A 2021, Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. in 60th IEEE Conference on Decision and Control, CDC 2021. Proceedings of the IEEE Conference on Decision and Control, vol. 2021-December, Institute of Electrical and Electronics Engineers Inc., pp. 2448-2455, 60th IEEE Conference on Decision and Control, CDC 2021, Austin, United States, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9683228

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. / Santina, Cosimo Della; Lakatos, Dominic; Bicchi, Antonio et al.
60th IEEE Conference on Decision and Control, CDC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 2448-2455 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2021-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Y1 - 2021

N2 - Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

AB - Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

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M3 - Conference contribution

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T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 2448

EP - 2455

BT - 60th IEEE Conference on Decision and Control, CDC 2021

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Santina CD, Lakatos D, Bicchi A, Albu-Schaeffer A. Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling. In 60th IEEE Conference on Decision and Control, CDC 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 2448-2455. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC45484.2021.9683228

Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

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