On the stability of constrained mechanical systems

被引：0

作者：

Di Franco, Pierluigi ^{[1
]}

Scarciotti, Giordano ^{[1
]}

Astolfi, Alessandro ^{[1
,2
]}

机构：

[1] Imperial Coll London, Dept Elect & Elect Engn, London SW7 2AZ, England

[2] Univ Roma Tor Vergata, DICII, Via Politecn 1, I-00133 Rome, Italy

来源：

2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2017年

关键词：

DIFFERENTIAL-ALGEBRAIC EQUATIONS; FEEDBACK STABILIZATION; REGULARIZATION; MANIPULATORS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：5

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