Stability and Attractivity of Mechanical Systems with Unilateral Constraints
نویسندگان
چکیده
In this paper we will give conditions under which the equilibrium set of multi-degreeof-freedom nonlinear mechanical systems with an arbitrary number of frictional unilateral constraints is attractive. The theorems for attractivity are proved by using the framework of measure differential inclusions together with a Lyapunov-type stability analysis and a generalisation of LaSalle’s invariance principle for non-smooth systems. The special structure of mechanical multi-body systems allows for a natural Lyapunov function and an elegant derivation of the proof. These results are illustrated by means of examples with unilateral frictional constraints.
منابع مشابه
Stability properties of equilibrium sets of non-linear mechanical systems with dry friction and impact
In this paper, we will give conditions under which the equilibrium set of multi-degree-of-freedom non-linear mechanical systems with an arbitrary number of frictional unilateral constraints is attractive. The theorems for attractivity are proved by using the framework of measure differential inclusions together with a Lyapunov-type stability analysis and a generalisation of LaSalle’s invariance...
متن کاملStability Properties of Equilibrium Sets of Controlled Linear Mechanical Systems with Dry Friction
The dynamics of mechanical systems with dry friction elements, modeled by set-valued force laws, can be described by differential inclusions. The switching and set-valued nature of the friction force law is responsible for the hybrid character of such models. An equilibrium set of such a differential inclusion corresponds to a stationary mode for which the friction elements are sticking. The at...
متن کاملControl of Mechanical Systems Subject to Unilateral Constraints
In this work we consider the problem of control of mechanical systems subject to unilateral constraints. Impulsive forces arise whenever the constraints become active and these forces give rise to nonsmooth dynamics. The dynamics of the system is de ned by a set of di erential equations with discontinuous righthand side using Hamilton's equations of motion. A nonlinear transformation is applied...
متن کاملNecessary conditions for stability and attractivity of continuous systems
Considered in this paper are control systems of the form _ x 1⁄4 f ðx; uÞ. For such systems a number of related necessary conditions for various forms of stability and attractivity are presented. The paper starts by showing that Brockett’s necessary condition for stabilizability via smooth feedback still persists if f is continuous and the class of allowable u increased to include continuous fe...
متن کاملJoint influence of leakage delays and proportional delays on almost periodic solutions for FCNNs
This paper deals with fuzzy cellular neural networks (FCNNs) with leakage delays and proportional delays. Applying the differential inequality strategy, fixed point theorem and almost periodic function principle, some sufficient criteria which ensure the existence and global attractivity of a unique almost periodic solution for fuzzy cellular neuralnetworks with leakage delays and p...
متن کامل