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- W2047832220 abstract "This paper introduces a novel methodology to embed desired reference trajectories into the modal dynamics of an underactuated system through eigenstructure assignment. A unique characteristic of the method is that it decomposes the control input into two parts: an open loop, periodic excitation signal, and a closed loop feedback signal. The periodic excitation causes the system’s natural modes to resonate in a fashion that matches the desired trajectory; modal dynamics, determined by the system’s eigenstates (eigenvectors and their corresponding eigenvalues), are shaped by tuning physical and control parameters concurrently. The method requires the solution of a dual-domain eigenstate factorization problem, in which it is necessary to compute certain unknown elements of a matrix and of its eigenvectors at the same time." @default.
- W2047832220 created "2016-06-24" @default.
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- W2047832220 date "2014-04-28" @default.
- W2047832220 modified "2023-09-27" @default.
- W2047832220 title "Embedding Desired Eigenstates into Active and Passive Dynamics of a Linear, Underactuated Feedback System" @default.
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- W2047832220 doi "https://doi.org/10.1115/1.4025295" @default.
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