کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
694940 890242 2008 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems
چکیده انگلیسی

This paper provides an introduction to several problems and techniques related to controlling periodic motions of dynamical systems. In particular, we consider planning periodic motions and designing feedback controllers for orbital stabilization. We review classical and recent design methods based on the Poincaré first-return map and the transverse linearization. We begin with general nonlinear systems and then specialize to a class of underactuated mechanical systems for which a particularly rich structure allows many of the problems to be solved analytically.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Annual Reviews in Control - Volume 32, Issue 2, December 2008, Pages 200–211
نویسندگان
, , ,