{"ID":2866571,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.20082","arxiv_id":"2509.20082","title":"Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots","abstract":"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.","short_abstract":"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 sta...","url_abs":"https://arxiv.org/abs/2509.20082","url_pdf":"https://arxiv.org/pdf/2509.20082v1","authors":"[\"Surov Maksim\"]","published":"2025-09-24T13:03:15Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}