Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom
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(35)- Linear mechanical systems and dyadic transfer function matrices.
- Freedom in coordinate transformation for exact linearization and its application to transient behavior improvement
- A coordinate-free theory of virtual holonomic constraints
- Dynamic virtual holonomic constraints for stabilization of closed orbits in underactuated mechanical systems
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- Orbital stabilization of point-to-point maneuvers in underactuated mechanical systems
- On Leonov's method for computing the linearization of transverse dynamics and analyzing Zhukovsky stability
- On existence of oscillations in hybrid systems
- Modification of a PD+ controller for the orbital stabilization of the motions of an all-wheel drive mechanical system
- Orbital stabilization of nonlinear systems via Mexican sombrero energy shaping and pumping-and-damping injection
- Deduction method of the overall transfer equation of linear controlled multibody systems
- Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion
- Lyapunov controller design for transverse vibration of a cable-linked transporter system
- Control of a bicycle using virtual holonomic constraints
- SDP-based approximation of stabilising solutions for periodic matrix Riccati differential equations
- A dynamic human motion: coordination analysis
- A remark on controlled Lagrangian approach
- Nonholonomic rolling nonprehensile manipulation primitive
- Model orbit output feedback tracking of underactuated mechanical systems with actuator dynamics
- Two relay controller for real time trajectory generation and its application to inverted orbital stabilization of inertia wheel pendulum via quasi-continuous HOSM
- Orbital synchronization of homogeneous mechanical systems with one degree of underactuation
- Robust orbital stabilization: A Floquet theory–based approach
- Virtual constraint generators for motion control of robots with degree of underactuation one
- Virtual nonholonomic constraints: a geometric approach
- Sliding mode control for systems with zero-crossing control gain under matched and mismatched disturbances
- Almost periodic motion planning and control for double rotary pendulum with experimental validation
- Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
- Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback
- Controlling flat-foot limit cycle walkers with compliant joints based on local stability variation
- An example of robust orbital stabilization of a periodic behavior: subspace and sliding-mode-based stabilization of transverse linearization
- Lyapunov equation and integral sliding mode-based robust stabilization of a periodic trajectory for a three-link planar biped robot
- Lyapunov redesign of perturbed periodic LTV systems with experimental validation
- Feedback control for multiple stable limit cycles with arbitrary temporal shapes
- Orbital stabilization of underactuated systems using virtual holonomic constraints and impulse controlled Poincaré maps
- A numerical evaluation of solvers for the periodic Riccati differential equation
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