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Maksim Surov

Publications and source records attributed to Maksim Surov.

2 recordsLinked to original sources
arXiv2025

Sliding Mode Control and Subspace Stabilization Methodology for the Orbital Stabilization of Periodic Trajectories

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.

cs.RO↗
arXiv2025

Virtual Holonomic Constraints in Motion Planning: Revisiting Feasibility and Limitations

This paper addresses the feasibility of virtual holonomic constraints (VHCs) in the context of motion planning for underactuated mechanical systems with a single degree of underactuation. While existing literature has established a widely accepted definition of VHC, we argue that this definition is overly restrictive and excludes a broad class of admissible trajectories from consideration. To illustrate this point, we analyze a periodic motion of the Planar Vertical Take-Off and Landing (PVTOL) aircraft that satisfies all standard motion planning requirements, including orbital stabilizability. However, for this solution -- as well as for a broad class of similar ones -- there exists no VHC that satisfies the conventional definition. We further provide a formal proof demonstrating that the conditions imposed by this definition necessarily fail for a broad class of trajectories of mechanical systems. These findings call for a reconsideration of the current definition of VHCs, with the potential to significantly broaden their applicability in motion planning.

cs.RO↗