Blar i NTNU Open på forfatter "Gusev, Sergey"
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Constructing transverse coordinates for orbital stabilization of periodic trajectories
Surov, Maksim; Gusev, Sergey; Freidovich, Leonid B. (Peer reviewed; Journal article, 2020)An approach for introduction of transverse coordinates in a vicinity of a periodic trajectory is presented. The approach allows finding by numerical integration periodic normalized mutually-orthogonal vector-functions that ... -
On Orbital Stabilization for Industrial Manipulators: Case Study in Evaluating Performances of Modified PD+ and Inverse Dynamics Controllers
Pchelkin, Stepan; Shiriaev, Anton; Robertsson, Anders; Freidovich, Leonid B.; Kolyubin, Sergey; Paramonov, Leonid; Gusev, Sergey (Journal article; Peer reviewed, 2017)Orbital stabilization is one of the available alternatives to the classical asymptotic stabilization, known as the reference tracking control, which is typically considered and implemented for controlling motions of ... -
Shaping Stable Oscillation of a Pendulum on a Cart around the Horizontal
Surov, Maksim; Gusev, Sergey; Shiriaev, Anton (Journal article; Peer reviewed, 2017)Planning and stabilizing induced oscillations for underactuated mechanical systems are challenging tasks. Available analytical solutions are primary linked to formats of representation of feasible trajectories and can give ... -
Underactuated mechanical systems: Whether orbital stabilization is an adequate assignment for a controller design?
Mamedov, Shamil; Khusainov, Ramil; Gusev, Sergey; Klimchik, Alexandr; Maloletov, Aleksandr; Shiriaev, Anton (Peer reviewed; Journal article, 2020)The paper contributes to developing algorithms for motion planning and motion control for mechanical systems with two and more passive degrees of freedom by exploring a challenging example in details. As shown, some of ...