Path following of a class of underactuated mechanical systems via immersion and invariance‐based orbital stabilization

DOI10.1002/rnc.5258zbMath1525.93424arXiv2001.10325MaRDI QIDQ6061335

Romeo S. Ortega, Bowen Yi, Ian R. Manchester, Houria B. Siguerdidjane

Publication date: 30 October 2023

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2001.10325

zbMATH Keywords

path followingorbital stabilizationenergy shapingimmersion and invariance

Mathematics Subject Classification ID

Feedback control (93B52) Control of mechanical systems (70Q05) Stability of control systems (93D99)

Related Items (3)

Periodic motion generation with a time-varying offset for fully actuated torque-driven mechanical systems using energy regulation ⋮ Orbital synchronization of homogeneous mechanical systems with one degree of underactuation ⋮ Space‐and‐time‐synchronized simultaneous fully‐actuated vehicle tracking/formation using cascaded prescribed‐time control

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