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

被引：62

作者：

Shiriaev, A. S. ^{[1
,2
]}

Freidovich, L. B. ^{[1
]}

Manchester, I. R. ^{[1
]}

机构：

[1] Umea Univ, Dept Appl Phys & Elect, SE-90187 Umea, Sweden

[2] Norwegian Univ Sci & Technol, Dept Engn Cybernet, NO-7491 Trondheim, Norway

来源：

ANNUAL REVIEWS IN CONTROL | 2008年 / 32卷 / 02期

关键词：

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

D O I：

10.1016/j.arcontrol.2008.07.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 Poincare 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. (C) 2008 Elsevier Ltd. All rights reserved.

引用

页码：200 / 211

页数：12