Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots
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arXiv
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866909804537053184 |
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| author | Maksim, Surov |
| author_facet | Maksim, Surov |
| contents | This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronization dynamics. To stabilize the resulting extended transverse dynamics, we employ a combination of time-varying LQR and sliding-mode control. The theoretical results are validated experimentally through the implementation of both centralized and decentralized control strategies on a group of six Butterfly robots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_20082 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots Maksim, Surov Robotics Systems and Control This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronization dynamics. To stabilize the resulting extended transverse dynamics, we employ a combination of time-varying LQR and sliding-mode control. The theoretical results are validated experimentally through the implementation of both centralized and decentralized control strategies on a group of six Butterfly robots. |
| title | Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2509.20082 |