Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems

Annual Reviews in Control

Volumn 32, Issue 2, 2008, Pages 200-211

  Shiriaev, A S ^a,b   Freidovich, L B ^a   Manchester, I R ^a  

^a UMEÅ UNIVERSITY   (Sweden)

^b NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

Author keywords

Orbital stabilization; Periodic motion planning; Poincar first return map; Transverse linearization; Virtual holonomic constraints

Indexed keywords

DYNAMICAL SYSTEMS; LINEARIZATION; MECHANICAL ENGINEERING; MECHANICS; MECHATRONICS; NONLINEAR SYSTEMS; SCHRODINGER EQUATION;

DESIGN METHODS; FEEDBACK CONTROLLERS; ORBITAL STABILIZATION; ORBITAL STABILIZATIONS; PERIODIC MOTION PLANNING; PERIODIC MOTIONS; POINCARE; RETURN MAPS; RICH STRUCTURES; TRANSVERSE LINEARIZATION; UNDERACTUATED MECHANICAL SYSTEMS; VIRTUAL HOLONOMIC CONSTRAINTS;

STABILIZATION;

EID: 55549088178     PISSN: 13675788     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.arcontrol.2008.07.001     Document Type: Article

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