Periodic Motion Planning for Virtually Constrained (Hybrid) Mechanical Systems

Anton Shiriaev, Anders Robertsson, John Perram, Anders Sandberg

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingResearchpeer-review

6 Citations (Scopus)
98 Downloads (Pure)


The paper presents sufficient and almost necessary conditions for the presence of periodic solutions for zero dynamics of virtually constrained under-actuated Euler-Lagrange system. This result is further extended to detect periodic solutions for a class of hybrid systems in the plane and analyze their orbital stability and instability. Illustrative examples are given.
Original languageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control and the 2005 European Control Conference
PublisherSeville, Spain
ISBN (Print)0-7803-9568-9
Publication statusPublished - 2005

Subject classification (UKÄ)

  • Control Engineering


  • Orbital feedback stabilization
  • Hybrid systems
  • Lyapunov lemma
  • Virtual holonomic constraints
  • Motion planning


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