This paper discusses the theory of oscillatory normal modes, and its extension to general
multi-body mechanical systems. We first review the efforts to generalize modal analysis to …

In this paper we show that a slight modification to the widely popular interconnection and
damping assignment passivity-based control method–originally proposed for stabilization of …

The varied and complex dynamics of real-world systems challenge the formulation of a
systematic strategy for designing a stabilizing feedback law. Rather than taking a universal …

The energy regulation of fully actuated torque–driven robot manipulators in joint space is
addressed in this paper. The proposed controller is designed via an energy shaping plus …

Nonlinear modes are a well investigated concept in dynamical systems theory, extending
the celebrated modal analysis of linear mechanical systems to nonlinear ones. This letter …

Adding elastic elements to the mechanical structure should enable robots to perform efficient
oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a …

This article aims to provide a new problem formulation of path following for mechanical
systems without time parameterization nor guidance laws, namely, we express the control …

In this article, we study virtual nonholonomic constraints (VNHCs), which are relations
between the generalized coordinates and momenta of a mechanical system that can be …

The design of robust orbitally stabilizing feedback is considered. From a known orbitally
stabilizing controller for a nominal, disturbance‐free system, a robustifying feedback …

In this note, we present a constructive procedure to solve the orbital stabilization problem of
a class of nonlinear underactuated mechanical systems with degrees of freedom and …