Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2005

Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach

Résumé

Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach Shiriaev, A. Perram, J.W. Canudas-de-Wit, C. We present a constructive tool for generation and orbital stabilization of periodic solutions for underactuated nonlinear systems. Our method can be applied to any mechanical system with a number of independent actuators smaller than the number of degrees of freedom by one. The synthesized feedback control law is nonlinear and time-dependent. It is derived from a feedback structure that explicitly uses the general or full integral of the systems zero dynamics. The control law generates a periodic solution and makes it exponentially orbitally stable.

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Dates et versions

hal-00395031 , version 1 (14-06-2009)

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  • HAL Id : hal-00395031 , version 1

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Anton Shiriaev, J.-W. Perram, Carlos Canudas de Wit. Constructive Tool for Orbital Stabilization of Underactuated Nonlinear Systems: Virtual Constraints Approach. IEEE Transactions on Automatic Control, 2005, 50 (8), pp.1164-1176. ⟨hal-00395031⟩
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