Switching based limit cycle control for compliantly actuated second-order systems

摘要

This paper derives a stability statement for a novel, switching based limit cycle control. The stability proof is based on multiple Lyapunov functions and a new interpretation of contraction analysis. By showing that the dissipated energy on the cycle increases with increasing velocity, while the injected energy is constant, the emergence of an attractive limit cycle is shown. The approach applies for general, nonlinear, and compliantly actuated second-order systems, with positive definite plant parameters and non-aperiodic solutions. An analysis of the controller parameters reveals, that for the majority of parameters, global attractiveness of the limit cycle can be guaranteed.