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Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
2005
IEEE Transactions on Automatic Control
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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
doi:10.1109/tac.2005.852568
fatcat:wrsuquk7lnambnz7eu5zs6kziy