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Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2005 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 50, no 8, p. 1164-1176Article in journal (Refereed) Published
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Abstract [en]

We present a constructive tool for generation and orbital stabilization of periodic solutions for underactuated nonlinear systems. Our method can be applied to any mechanical system with a number of independent actuators smaller than the number of degrees of freedom by one. The synthesized feedback control law is nonlinear and time-dependent. It is derived from a feedback structure that explicitly uses the general or full integral of the systems zero dynamics. The control law generates a periodic solution and makes it exponentially orbitally stable.

Place, publisher, year, edition, pages
Piscataway: IEEE Press, 2005. Vol. 50, no 8, p. 1164-1176
Keyword [en]
constructive control procedures, nonlinear and time-varying controllers, orbital stabilization
National Category
Robotics Control Engineering Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:umu:diva-120409DOI: 10.1109/TAC.2005.852568ISI: 000231156800007OAI: oai:DiVA.org:umu-120409DiVA: diva2:934875
Available from: 2016-06-09 Created: 2016-05-16 Last updated: 2017-11-30Bibliographically approved

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