Stabilization of energy level sets of underactuated mechanical systems exploiting impulsive braking

Recent investigations of underactuated systems have demonstrated the benefits control inputs that are impulsive in nature. Here we consider problem stabilization energy level sets exploiting braking. We with one passive degree-of-freedom (DOF) and set is a manifold where active coordinates fixed mechanical equals some desired value. A strategy comprised continuous intermittent braking presented. The generality approach shown through simulation three-DOF Tiptoebot; feasibility implementation using standard hardware rotary pendulum.