Limit-cycle-like control for planar space robot models with initial angular momenta

► We develop limit-cycle-like controllers for general two-dimensional nonlinear control system. ► Some properties of the limit-cycle-like controllers are shown. ► We give the model of the two-dimensional planar space robot with an initial angular momentum and derive some properties of it. ► Some simulations indicate the effectiveness of the limit-cycle-like control method.