Transverse linearization for underactuated nonholonomic mechanical systems with application to orbital stabilization

DOI10.1007/978-1-4471-2265-4_11MaRDI QIDQ5259012zbMATH OpenOpenAlexFDO

Authors Leonid B. Freidovich, Anton S. Shiriaev

Publication date 24 June 2015

Published in Distributed Decision Making and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-1-4471-2265-4_11

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Stabilization of systems by feedback (93D15) Transformations (93B17)

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Cited in

(6)

• Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems
• Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
• Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
• Periodic motion planning and control for underactuated mechanical systems
• A novel moving orthonormal coordinate-based approach for region of attraction analysis of limit cycles
• Feedback linearization of transverse dynamics for periodic orbits in \textbf{R}\(^{3}\) with points of transverse controllability loss

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