Strict Global Lyapunov Functions for Mechanical Systems
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
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Electrical and Computer Engineering
Engineering
Systems Engineering
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Electrical and Computer Engineering
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Systems Engineering
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Abstract
A novel Lyapunov function is introduced. The author treats the PD compensated mechanical system, which is defined on a configuration space which admits a trivial tangent bundle. Previous results are derived in a simpler form, namely, that such systems are exponentially stable, hence BIBO stable, and steady-state ouptut magnitudes are proportional to input magnitudes with a constant of proportionality depending in a simple fashion on the PD gain magnitudes. For more information: Kod*Lab
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1988-06-01
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Departmental Papers (ESE)
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2023-05-17T09:03:52.000
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Copyright 1988 IEEE. Reprinted from Proceedings of the 1988 American Control Conference, pages 1770-1775. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Recommended citation
@inproceedings{ koditschek-acc-1988, author = {D.E. Zoditschek}, title = {Strict Global Lyapunov Functions for Mechanical Systems}, booktitle ={Proceedings of the 7th American Control Conference}, year = {1988}, month = {June}, location = {Atlanta, GA}, pages = {1770-1775}, }