Abstract
A new approach to orbital stabilization of under-actuated systems with one passive degree-of-freedom (DOF) is presented. Virtual holonomic constraints are enforced using partial feedback linearization; this results in a dense set of periodic orbits on a constraint manifold. Every orbit on the constraint manifold is associated with a unique time-period. A desired orbit is selected, and the impulse controlled Poincaré map (ICPM) approach is utilized to stabilize the orbit by regulating the time-period. By treating the time period as the output, it is possible to design a dead-beat controller that achieves orbital stabilization in a single time-step. The effectiveness of the dead-beat design is demonstrated for the cart-pendulum system.
Recommended Citation
N. Kant and R. Mukherjee, "Orbital Stabilization of Underactuated Systems using Time Period Regulation," Proceedings of the American Control Conference, pp. 4691 - 4696, Institute of Electrical and Electronics Engineers, Jan 2023.
The definitive version is available at https://doi.org/10.23919/ACC55779.2023.10155961
Department(s)
Mechanical and Aerospace Engineering
International Standard Serial Number (ISSN)
0743-1619
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2023
