Exciting Nonlinear Modes of Conservative Mechanical Systems by Operating a Master Variable Decoupling

Conference paper (2021)

Authors

C. Della Santina Deutsches Zentrum für Luft- und Raumfahrt (DLR), Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering , Technische Universität München
Dominic Lakatos Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Antonio Bicchi Istituto Italiano di Tecnologia, University of Pisa
Alin Albu-Schaeffer Technische Universität München, Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 C. Della Santina, Dominic Lakatos, Antonio Bicchi, Alin Albu-Schaeffer
DOI: https://doi.org/10.1109/CDC45484.2021.9683228
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Published Date

2021

Language

English

Reuse Rights

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metrics. Recent work has shown that simple controllers can excite hyper-efficient oscillations by simultaneously stabilizing an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamics that the controlled system may not fulfill. This paper overcomes these limitations by allowing for partial dynamic compensation, which produces a good decoupling of the system's dynamics. This decoupling happens in a convenient set of coordinates induced by the modal characterization of the mechanical system. Two control algorithms taking advantage of this property are proposed and validated in simulation.

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