Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems

DOI10.1016/J.AUTOMATICA.2022.110735zbMATH Open1505.93071arXiv2102.04966OpenAlexW3128818318MaRDI QIDQ2103715FDOQ2103715

Authors: Christian Fredrik Sætre, Anton S. Shiriaev 

Publication date: 9 December 2022

Published in: Automatica (Search for Journal in Brave)

Abstract: The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to a so-called point-to-point maneuver in an underactuated mechanical system. Namely, to a smooth curve in its state--control space, which is consistent with the system dynamics and connects two (linearly) stabilizable equilibrium points. The proposed method uses a particular parameterization, together with a state projection onto the maneuver as to combine two linearization techniques for this purpose: the Jacobian linearization at the equilibria on the boundaries and a transverse linearization along the orbit. This allows for the computation of stabilizing control gains offline by solving a semidefinite programming problem. The resulting nonlinear controller, which simultaneously asymptotically stabilizes both the orbit and the final equilibrium, is time-invariant, locally Lipschitz continuous, requires no switching, and has a familiar feedforward plus feedback--like structure. The method is also complemented by synchronization function--based arguments for planning such maneuvers for mechanical systems with one degree of underactuation. Numerical simulations of the non-prehensile manipulation task of a ball rolling between two points upon the "butterfly" robot demonstrates the efficacy of the synthesis.

Full work available at URL: https://arxiv.org/abs/2102.04966

Recommendations

• Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
• Transverse linearization for underactuated nonholonomic mechanical systems with application to orbital stabilization
• Robust Point Stabilization of Underactuated Mechanical Systems via the Extended Chained Form
• Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system
• Periodic motion planning and control for underactuated mechanical systems

zbMATH Keywords

orbital stabilizationnonlinear feedback controlunderactuated mechanical systemsnonprehensile manipulation

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Asymptotic stability in control theory (93D20) Orbital mechanics (70M20)

Cites Work

• Solving semidefinite-quadratic-linear programs using SDPT3
• Stability theory and the existence of periodic solutions and almost periodic solutions
• Reduction theorems for stability of closed sets with application to backstepping control design
• Nonlinear systems.
• A linear programming oriented procedure for quadratic stabilization of uncertain systems
• Transverse contraction criteria for existence, stability, and robustness of a limit cycle
• Title not available (Why is that?)
• On Global Asymptotic Stability of Solutions of Differential Equations
• Title not available (Why is that?)
• Local instability and localization of attractors. From stochastic generator to Chua's systems
• Title not available (Why is that?)
• Nonlinear autonomous oscillations. Analytical theory
• Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom
• Periodic motion planning for virtually constrained Euler--Lagrange systems
• Generalization of the Andronov--Vitt theorem
• Orthonormal Expansion $\ell_{1}$-Minimization Algorithms for Compressed Sensing
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
• Converse Lyapunov functions for exponentially stable periodic orbits
• The orbital stability of the trajectories of dynamic systems
• Title not available (Why is that?)

Cited In (7)

• Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
• Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system
• Robust output-feedback orbital stabilization for underactuated mechanical systems via high-order sliding modes
• Title not available (Why is that?)
• Transverse linearization for underactuated nonholonomic mechanical systems with application to orbital stabilization
• Orbital synchronization of homogeneous mechanical systems with one degree of underactuation
• A new control law based on characteristic exponent assignment for libration point orbit maintenance

Uses Software

• SDPT3
• YALMIP
• Robotics

This page was built for publication: Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2103715)