Departmental Papers (ESE)

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

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

6-1988

Publication Source

Proceedings of the 1988 American Control Conference

Start Page

1770

Last Page

1775

Comments

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.

Bib Tex

@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}, }

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Date Posted: 25 July 2014

This document has been peer reviewed.