Orbital Stabilization of Underactuated Mechanical Systems

  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
Highly Cited
This paper has 57 citations. REVIEW CITATIONS

From This Paper

Figures, tables, and topics from this paper.


Publications citing this paper.
Showing 1-10 of 34 extracted citations

58 Citations

Citations per Year
Semantic Scholar estimates that this publication has 58 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-3 of 3 references

Converse Lyapunov functions for exponentially stable periodic orbits

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

Similar Papers

Loading similar papers…