Geodesic
Decomposition of multirate dynamic systems with small dissipation
Vestnik Samarskogo universiteta. Estestvennonaučnaâ seriâ, no. 9 (2013), pp. 5-10
Cet article a éte moissonné depuis la source Math-Net.Ru

Voir la notice de l'article

We consider singularly perturbed differential systems which describe the dynamics of manipulator with flexible joints in conditions of small dissipation. The existence of decoupling transformation which converts original multirate system to “block triangular” form with independent slow subsystem. Decoupling transformation is constructed as asymptotic series.
Keywords: singularly perturbed systems, asymptotic methods.
Mots-clés : decomposition 
@article{VSGU_2013_9_a0,
     author = {N. V. Voropaeva},
     title = {Decomposition of multirate dynamic systems with small dissipation},
     journal = {Vestnik Samarskogo universiteta. Estestvennonau\v{c}na\^a seri\^a},
     pages = {5--10},
     year = {2013},
     number = {9},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VSGU_2013_9_a0/}
}
TY  - JOUR
AU  - N. V. Voropaeva
TI  - Decomposition of multirate dynamic systems with small dissipation
JO  - Vestnik Samarskogo universiteta. Estestvennonaučnaâ seriâ
PY  - 2013
SP  - 5
EP  - 10
IS  - 9
UR  - http://geodesic.mathdoc.fr/item/VSGU_2013_9_a0/
LA  - ru
ID  - VSGU_2013_9_a0
ER  - 
%0 Journal Article
%A N. V. Voropaeva
%T Decomposition of multirate dynamic systems with small dissipation
%J Vestnik Samarskogo universiteta. Estestvennonaučnaâ seriâ
%D 2013
%P 5-10
%N 9
%U http://geodesic.mathdoc.fr/item/VSGU_2013_9_a0/
%G ru
%F VSGU_2013_9_a0
N. V. Voropaeva. Decomposition of multirate dynamic systems with small dissipation. Vestnik Samarskogo universiteta. Estestvennonaučnaâ seriâ, no. 9 (2013), pp. 5-10. http://geodesic.mathdoc.fr/item/VSGU_2013_9_a0/

[1] Sobolev V. A., “Integral manifolds and decomposition of singularly perturbed systems”, Syst. Control Lett., 5 (1984), 169–279 | DOI | MR

[2] Strygin V. V., Sobolev V. A., Razdelenie dvizhenii metodom integralnykh mnogoobrazii, Nauka, M., 1988 | MR | Zbl

[3] Voropaeva N. V., Sobolev V. A., Geometricheskaya dekompozitsiya singulyarno vozmuschennykh sistem, Fizmatlit, M., 2009 | Zbl

[4] Spong M. W., “Modeling and control of elastic joint robots”, Journal of Dynamic Systems, Measurement, and Control, 109 (1987), 310–319 | DOI | Zbl

[5] Spong M. W., Khorasani K., Kokotovic P. V., “An integral manifold approach to feedback control of flexible joint robots”, IEEE Journal of Robotics and Automation, 3:4 (1987), 291–301 | DOI | MR

[6] M. P. Mortell et al., Singular Perturbation and Hysteresis, SIAM, Philadelphia, 2005, 344 pp. | MR | Zbl