Orbital Stabilization of Underactuated Mechanical Systems

@inproceedings{EspiauOrbitalSO,
  title={Orbital Stabilization of Underactuated Mechanical Systems},
  author={Bernard Espiau}
}
This paper studies the problem of periodic stabilization of nonlinear underactuated mechanical systems. In opposition to the problem of stabilization of underactuated systems (i.e. acrobots, pendubots, etc.) to a fixed equilibrium, the problem of orbital stabilization of underactuated systems consists in finding control that leads to a stable periodic orbits. The problem is relevant to a class of mechanical systems aimed at operating under periodic motion (orbits), i.e. walking mechanisms… CONTINUE READING
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Converse Lyapunov functions for exponentially stable periodic orbits

  • J. Hauser, C.C
  • Systems & Control Letters
  • 1994

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