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Can we make a robot ballerina perform a pirouette?: orbital stabilization of periodic motions of underactuated mechanical systems.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2008 (English)In: Annual Reviews in Control, ISSN 1367-5788, E-ISSN 1872-9088, Vol. 32, no 2, 200-211 p.Article in journal (Refereed) Published
Abstract [en]

This paper provides an introduction to several problems and techniques related to controlling periodic motions of dynamical systems. In particular, we consider planning periodic motions and designing feedback controllers for orbital stabilization. We review classical and recent design methods based on the Poincaré first-return map and the transverse linearization. We begin with general nonlinear systems and then specialize to a class of underactuated mechanical systems for which a particularly rich structure allows many of the problems to be solved analytically.

Place, publisher, year, edition, pages
2008. Vol. 32, no 2, 200-211 p.
Identifiers
URN: urn:nbn:se:umu:diva-19770DOI: 10.1016/j.arcontrol.2008.07.001OAI: oai:DiVA.org:umu-19770DiVA: diva2:202684
Available from: 2009-03-10 Created: 2009-03-10 Last updated: 2017-12-13Bibliographically approved

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Shiriaev, AntonFreidovich, Leonid B.
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CiteExportLink to record
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