☆ 3.8 Proceedings Paper

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC) (2022)

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Filip Bjelonic et al.

Summary: This paper introduces the addition of elastic elements to mechanical structures to enable robots to perform oscillatory tasks and discusses the characterization of natural oscillations in nonlinear systems using nonlinear modal theory. The paper proposes control strategies to excite and sustain oscillations in complex systems and applies them to the KUKA iiwa robot with simulated parallel springs.

IEEE ROBOTICS AND AUTOMATION LETTERS (2022)

添加到收藏夹

Article Automation & Control Systems

Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization

Cosimo Della Santina et al.

Summary: This letter discusses the investigation of nonlinear modal analysis in mechanical systems, aiming to combine control theory with nonlinear modal analysis for hyper-efficient oscillatory behaviors. The concept explores autonomous behaviors expressed by the system before designing a controller to excite them, and a first implementation of this concept is proposed, analyzed, and tested in simulation.

IEEE CONTROL SYSTEMS LETTERS (2021)

添加到收藏夹

Article Computer Science, Artificial Intelligence

Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

Davide Bicego et al.

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS (2020)

添加到收藏夹

Proceedings Paper Automation & Control Systems

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

Yuri S. Sarkisov et al.

2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2020)

添加到收藏夹

Review Automation & Control Systems

A review on nonlinear modes in conservative mechanical systems

Alin Albu-Schaeffer et al.

ANNUAL REVIEWS IN CONTROL (2020)

添加到收藏夹

Proceedings Paper Automation & Control Systems

Development of SAM: cable-Suspended Aerial Manipulator

Yuri S. Sarkisov et al.

2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) (2019)

添加到收藏夹

Review Engineering, Mechanical

Nonlinear normal modes, Part I: A useful framework for the structural dynamicist

G. Kerschen et al.

MECHANICAL SYSTEMS AND SIGNAL PROCESSING (2009)

添加到收藏夹

EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems

相关参考文献

Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Exciting Efficient Oscillations in Nonlinear Mechanical Systems Through Eigenmanifold Stabilization

Nonlinear Model Predictive Control with Enhanced Actuator Model for Multi-Rotor Aerial Vehicles with Generic Designs

Optimal Oscillation Damping Control of cable-Suspended Aerial Manipulator with a Single IMU Sensor

A review on nonlinear modes in conservative mechanical systems

Development of SAM: cable-Suspended Aerial Manipulator

Nonlinear normal modes, Part I: A useful framework for the structural dynamicist

导出引文

分享论文