Abstract
We consider a class of mechanical systems with an arbitrary number of passive (nonactuated) degrees of freedom, which are subject to a set of nonholonomic constraints. We assume that the challenging problem of motion planning is solved giving rise to a feasible desired periodic trajectory. Our goal is either to analyze orbital stability of this trajectory with a given time-independent feedback control law or to design a stabilizing controller. We extend our previous work done for mechanical systems without nonholonomic constraints. The main contribution is an analytical method for computing coefficients of a linear reduced-order control system, solutions of which approximate dynamics that is transversal to the preplanned trajectory. This linear system is shown to be useful for stability analysis and for design of feedback controllers orbitally, exponentially stabilizing forced periodic motions in nonholonomic mechanical systems.We illustrate our approach on a standard benchmark example.
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Freidovich, L.B., Shiriaev, A.S. (2012). Transverse Linearization for Underactuated Nonholonomic Mechanical Systems with Application to Orbital Stabilization. In: Johansson, R., Rantzer, A. (eds) Distributed Decision Making and Control. Lecture Notes in Control and Information Sciences, vol 417. Springer, London. https://doi.org/10.1007/978-1-4471-2265-4_11
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DOI: https://doi.org/10.1007/978-1-4471-2265-4_11
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