Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Orbital Stabilization of Point-to-Point Maneuvers in Underactuated
  Mechanical Systems   The task of inducing, via continuous static state-feedback, an asymptotically
stable heteroclinic orbit in a nonlinear control system is considered in this
paper. The main motivation comes from the problem of ensuring convergence to a
so-called point-to-point maneuver in an underactuated mechanical system.
Namely, to a smooth curve in its state--control space, which is consistent with
the system dynamics and connects two (linearly) stabilizable equilibrium
points. The proposed method uses a particular parameterization, together with a
state projection onto the maneuver as to combine two linearization techniques
for this purpose: the Jacobian linearization at the equilibria on the
boundaries and a transverse linearization along the orbit. This allows for the
computation of stabilizing control gains offline by solving a semidefinite
programming problem. The resulting nonlinear controller, which simultaneously
asymptotically stabilizes both the orbit and the final equilibrium, is
time-invariant, locally Lipschitz continuous, requires no switching, and has a
familiar feedforward plus feedback--like structure. The method is also
complemented by synchronization function--based arguments for planning such
maneuvers for mechanical systems with one degree of underactuation. Numerical
simulations of the non-prehensile manipulation task of a ball rolling between
two points upon the "butterfly" robot demonstrates the efficacy of the
synthesis.

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The categories of this paper are: acc-phys
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The categories of this paper are: bayes-an
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The categories of this paper are: astro-ph
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The categories of this paper are: dg-ga
3
The categories of this paper are: physics
37
The categories of this paper are: supr-con
11
The categories of this paper are: hep-lat
9
The categories of this paper are: nlin
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The categories of this paper are: solv-int
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The categories of this paper are: atom-ph
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The categories of this paper are: quant-ph
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The categories of this paper are: q-alg
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The categories of this paper are: chao-dyn
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The categories of this paper are: ao-sci
12
The categories of this paper are: nucl-th
35
The categories of this paper are: mtrl-th