Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation

DOI10.1007/s11071-022-07696-wzbMath1523.70035OpenAlexW4307862088MaRDI QIDQ6059930

Jesús Sandoval, Victor Santibáñez, Jorge Villalobos-Chin, Rafael Kelly, Javier Moreno-Valenzuela

Publication date: 2 November 2023

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-022-07696-w

zbMATH Keywords

stabilityperiodic motionenergy regulationmechanical Hamiltonian systems

Mathematics Subject Classification ID

Periodic solutions to ordinary differential equations (34C25) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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