This paper provides an introduction to several problems and techniques related to
controlling periodic motions of dynamical systems. In particular, we consider planning …

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 …

We propose a constructive control design for stabilization of non-periodic trajectories of
underactuated robots. An important example of such a system is an underactuated “dynamic …

In this paper we review a class of control methods for the walking control and the balancing
problem. The methods under review are based on the notion of virtual constraints which are …

A general method for planning and orbitally stabilizing periodic motions for impulsive
mechanical systems with underactuation one is proposed. For each such trajectory, we …

Orbital stabilization is one of the available alternatives to the classical asymptotic
stabilization, known as the reference tracking control, which is typically considered and …

519 (ie, controlled) robotic walkers, an analytic framework that would systematically clarify
the stability properties of the compass-gait biped is required. As a matter of fact, the Poincaré …

The paper explores the challenging task of performing a non-prehensile manipulation of
several balls synchronously rolling on the curved hands of Butterfly robots. Each Butterfly …

欠驱动系统的控制是非线性控制的一个重要领域, 欠驱动系统指系统控制输入个数小于自由度个
数的非线性系统. 目前, 欠驱动非线性系统动力学和控制研究的主要方法包括线性二次型最优 …

A methodology for asymptotic orbital synchronization of a set of homogeneous mechanical
systems with one degree of underactuation is proposed. A reference model generating a …