Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
2005 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 50, no 8, 1164-1176 p.Article in journal (Refereed) PublishedText
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, 1164-1176 p.
constructive control procedures, nonlinear and time-varying controllers, orbital stabilization
Robotics Control Engineering Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:umu:diva-120409DOI: 10.1109/TAC.2005.852568ISI: 000231156800007OAI: oai:DiVA.org:umu-120409DiVA: diva2:934875