Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866911301356224512 |
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| author | Surov, Maksim Freidovich, Leonid |
| author_facet | Surov, Maksim Freidovich, Leonid |
| contents | This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with partial feedback linearization and stabilization. Then, transverse linearization along the reference orbit is computed, resulting in a periodic linear time-varying system with a stable subspace. Sliding-mode control drives trajectories toward this subspace. The proposed design avoids solving computationally intensive periodic LQR problems and improves robustness to matched disturbances. The methodology is validated through experiments on the Butterfly robot. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2512_04249 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories Surov, Maksim Freidovich, Leonid Robotics Systems and Control This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with partial feedback linearization and stabilization. Then, transverse linearization along the reference orbit is computed, resulting in a periodic linear time-varying system with a stable subspace. Sliding-mode control drives trajectories toward this subspace. The proposed design avoids solving computationally intensive periodic LQR problems and improves robustness to matched disturbances. The methodology is validated through experiments on the Butterfly robot. |
| title | Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2512.04249 |