On the stability of constrained mechanical systems
File(s)CDC_PL.pdf (177.27 KB)
Accepted version
Author(s)
Di Franco, P
Scarciotti, G
Astolfi, A
Type
Conference Paper
Abstract
The problem of the stability analysis for constrained mechanical systems is addressed using tools from classical geometric control theory, such as the notion of zero dynamics. For the special case of linear constrained mechanical systems we show that stability is equivalent to a detectability property. The proposed techniques are illustrated by means of simple examples.
Date Issued
2018-01-23
Date Acceptance
2017-07-12
Citation
2017 IEEE 56th Annual Conference on Decision and Control (CDC), 2018
Publisher
IEEE
Journal / Book Title
2017 IEEE 56th Annual Conference on Decision and Control (CDC)
Copyright Statement
© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Engineering & Physical Science Research Council (EPSRC)
Commission of the European Communities
Grant Number
EP/L014343/1
664639
Source
56th IEEE Conference on Decision and Control
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
DIFFERENTIAL-ALGEBRAIC EQUATIONS
FEEDBACK STABILIZATION
REGULARIZATION
MANIPULATORS
Publication Status
Published
Start Date
2017-12-12
Finish Date
2017-12-15
Coverage Spatial
Melbourne, Australia