Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case with Configuration-Dependent Inertia

Davide Calzolari; Cosimo Della Santina; Alin Albu-Schaffer

doi:10.1109/LCSYS.2020.3004196

Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case with Configuration-Dependent Inertia

Informatics 6 - Chair of Robotics, Artificial Intelligence and Real-time Systems
Informatics 23 - Chair of Sensor-based Robotic Systems and Intelligent Assistance Systems

Technical University of Munich

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

This letter provides a proof of global exponential stability for a large class of uni-dimensional mechanical systems with configuration dependent inertia and impedance. It also contextually contributes with a strict bound on the exponential decay, connecting the Lyapunov exponent of the nonlinear system with the convergence rate of the corresponding worst-case linear system.

Original language	English
Article number	9123609
Pages (from-to)	445-450
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	5
Issue number	2
DOIs	https://doi.org/10.1109/LCSYS.2020.3004196
State	Published - Apr 2021

Keywords

Robotics
damped nonlinear oscillations
lyapunov methods
stability of nonlinear systems

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10.1109/LCSYS.2020.3004196

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title = "Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case with Configuration-Dependent Inertia",

abstract = "This letter provides a proof of global exponential stability for a large class of uni-dimensional mechanical systems with configuration dependent inertia and impedance. It also contextually contributes with a strict bound on the exponential decay, connecting the Lyapunov exponent of the nonlinear system with the convergence rate of the corresponding worst-case linear system.",

keywords = "Robotics, damped nonlinear oscillations, lyapunov methods, stability of nonlinear systems",

author = "Davide Calzolari and Santina, \{Cosimo Della\} and Alin Albu-Schaffer",

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AB - This letter provides a proof of global exponential stability for a large class of uni-dimensional mechanical systems with configuration dependent inertia and impedance. It also contextually contributes with a strict bound on the exponential decay, connecting the Lyapunov exponent of the nonlinear system with the convergence rate of the corresponding worst-case linear system.

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KW - damped nonlinear oscillations

KW - lyapunov methods

KW - stability of nonlinear systems

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Exponential Convergence Rates of Nonlinear Mechanical Systems: The 1-DoF Case with Configuration-Dependent Inertia

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Keywords

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