Energy Based Limit Cycle Control of Elastically Actuated Robots

DOI10.1109/TAC.2016.2599781MaRDI QIDQ5280431zbMATH OpenFDO

Authors

Publication date 27 July 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/TAC.2016.2599781

Mathematics Subject Classification ID

Topological structure of integral curves, singular points, limit cycles of ordinary differential equations (34C05) Stability of solutions to ordinary differential equations (34D20) Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cited in

(2)

• On robustness of the speed-gradient sampled-data energy control for the sine-Gordon equation: the simpler the better
• Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection

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