TY - GEN
T1 - Switching based limit cycle control for compliantly actuated second-order systems
AU - Lakatos, Dominic
AU - Albu-Schäffer, Alin
N1 - Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - This paper derives a stability statement for a novel, switching based limit cycle control. The stability proof is based on multiple Lyapunov functions and a new interpretation of contraction analysis. By showing that the dissipated energy on the cycle increases with increasing velocity, while the injected energy is constant, the emergence of an attractive limit cycle is shown. The approach applies for general, nonlinear, and compliantly actuated second-order systems, with positive definite plant parameters and non-aperiodic solutions. An analysis of the controller parameters reveals, that for the majority of parameters, global attractiveness of the limit cycle can be guaranteed.
AB - This paper derives a stability statement for a novel, switching based limit cycle control. The stability proof is based on multiple Lyapunov functions and a new interpretation of contraction analysis. By showing that the dissipated energy on the cycle increases with increasing velocity, while the injected energy is constant, the emergence of an attractive limit cycle is shown. The approach applies for general, nonlinear, and compliantly actuated second-order systems, with positive definite plant parameters and non-aperiodic solutions. An analysis of the controller parameters reveals, that for the majority of parameters, global attractiveness of the limit cycle can be guaranteed.
UR - http://www.scopus.com/inward/record.url?scp=84929832589&partnerID=8YFLogxK
U2 - 10.3182/20140824-6-za-1003.02001
DO - 10.3182/20140824-6-za-1003.02001
M3 - Conference contribution
AN - SCOPUS:84929832589
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 6392
EP - 6399
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -