Controlled synchronization of mechanical systems with a unilateral constraint

Conference paper (2016)

Authors

Michael Baumann ETH Zürich
J. J Benjamin Biemond Katholieke Universiteit Leuven
Remco I. Leine University of Stuttgart
N. van de Wouw , Eindhoven University of Technology, University of Minnesota
Copyright: © 2016 Michael Baumann, J. J Benjamin Biemond, Remco I. Leine, N. van de Wouw
DOI: https://doi.org/10.1016/j.ifacol.2016.10.188
More Info
expand_more

Published Date

2016

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Abstract

This paper addresses the controlled synchronization problem of mechanical systems subjected to a geometric unilateral constraint as well as the design of a switching coupling law to obtain synchronization. To define the synchronization problem, we propose a distance function induced by the quotient metric, which is based on an equivalence relation using the impact map. A Lyapunov function is constructed to investigate the synchronization problem for two identical one-dimensional mechanical systems. Sufficient conditions for the individual systems and their controlled interaction are provided under which synchronization can be ensured. We present a (coupling) control law which ensures global synchronization, also in the presence of grazing trajectories and accumulation points (Zeno behavior). The results are illustrated using a numerical example.

Files

1_s2.0_S2405896316317670_main.... (pdf)
(pdf | 0.725 Mb)
Unknown license