Periodic motion planning for virtually constrained Euler--Lagrange systems
From MaRDI portal
Publication:875140
DOI10.1016/j.sysconle.2006.06.007zbMath1117.93052MaRDI QIDQ875140
Publication date: 11 April 2007
Published in: Systems \& Control Letters (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.sysconle.2006.06.007
periodic solutions; virtual holonomic constraints; Lyapunov Lemma; motion planning under-actuated Euler-Lagrange systems
93B52: Feedback control
93C10: Nonlinear systems in control theory
93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory
93C15: Control/observation systems governed by ordinary differential equations
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