Controlled synchronization of mechanical systems with a unilateral constraint
Metadata only
Datum
2016-10Typ
- Conference Paper
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. Mehr anzeigen
Publikationsstatus
publishedExterne Links
Herausgeber(in)
Buchtitel
10th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2016. ProceedingsZeitschrift / Serie
IFAC-PapersOnLineBand
Seiten / Artikelnummer
Verlag
ElsevierKonferenz
Thema
Synchronization; Measure differential inclusions; Unilateral constraints; Lyapunov stability; Hybrid systemsOrganisationseinheit
03307 - Dual, Jürg (emeritus) / Dual, Jürg (emeritus)
Förderung
144307 - Synchronization of Dynamical Systems with Impulsive Motion (SNF)