| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723664 | IFAC Proceedings Volumes | 2007 | 6 Pages |
Abstract
An underactuated mechanical system can be orbitally stabilized to certain limit cycles by the method of virtual constraints. This method results in a time-periodic controller which makes a chosen limit cycle locally exponentially orbitally stable. In this paper, we improve the technique in two ways. Firstly, the time dependence of the controller is removed, and an equivalent purely state-feedback controller is given. Secondly, the restriction of local stability is relaxed by providing a method to transition between different limit cycles of the same system.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Leonid Freidovich, Anton Shiriaev, Ian Manchester,