Periodic motion planning for virtually constrained Euler--Lagrange systems
DOI10.1016/J.SYSCONLE.2006.06.007zbMATH Open1117.93052OpenAlexW2045992114MaRDI QIDQ875140FDOQ875140
Authors: N. E. Zubov 
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
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periodic solutionsvirtual holonomic constraintsLyapunov Lemmamotion planning under-actuated Euler-Lagrange systems
Feedback control (93B52) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)
Cites Work
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- Controlled Lagrangians and the stabilization of mechanical systems. I: The first matching theorem.
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- Nonlinear control of the reaction wheel pendulum
- Hybrid zero dynamics of planar biped walkers
- Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
- Partial stabilization of underactuated Euler-Lagrange systems via a class of feedback transformations
Cited In (18)
- Limit cycles of multi-parameter polynomial dynamical systems
- 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
- Almost periodic motion planning and control for double rotary pendulum with experimental validation
- Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system
- A coordinate-free theory of virtual holonomic constraints
- Virtual constraint generators for motion control of robots with degree of underactuation one
- Robust output-feedback orbital stabilization for underactuated mechanical systems via high-order sliding modes
- Global bifurcation analysis of generalized Liénard polynomial dynamical system
- Periodic motion planning and control for underactuated mechanical systems
- A dynamic human motion: coordination analysis
- A numerical evaluation of solvers for the periodic Riccati differential equation
- Robust orbital stabilization: A Floquet theory–based approach
- Control of a bicycle using virtual holonomic constraints
- Lateral dynamics of walking-like mechanical systems and their chaotic behavior
- Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
- Periodic motion planning and nonlinear \(\mathcal H_{\infty }\) tracking control of a 3-DOF underactuated helicopter
- Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics
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