Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach

A. Shiriaev, J.W. Perram, C. Canudas-de-Wit
2005 IEEE Transactions on Automatic Control  
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
more » ... c solution and makes it exponentially orbitally stable.
doi:10.1109/tac.2005.852568 fatcat:wrsuquk7lnambnz7eu5zs6kziy