Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Path following of a class of underactuated mechanical systems via
  immersion and invariance-based orbital stabilization   This paper aims to provide a new problem formulation of path following for
mechanical systems without time parameterization nor guidance laws, namely, we
express the control objective as an orbital stabilization problem. It is shown
that, it is possible to adapt the immersion and invariance technique to design
static state-feedback controllers that solve the problem. In particular, we
select the target dynamics adopting the recently introduced Mexican sombrero
energy assignment method. To demonstrate the effectiveness of the proposed
method we apply it to control underactuated marine surface vessels.

2
The categories of this paper are: math
31
The categories of this paper are: ao-sci
30
The categories of this paper are: q-alg
17
The categories of this paper are: q-fin
23
The categories of this paper are: solv-int
8
The categories of this paper are: hep-ex
4
The categories of this paper are: cond-mat
0
The categories of this paper are: hep-ph
25
The categories of this paper are: patt-sol
11
The categories of this paper are: hep-lat
37
The categories of this paper are: supr-con
36
The categories of this paper are: cmp-lg
24
The categories of this paper are: dg-ga
13
The categories of this paper are: quant-ph
6
The categories of this paper are: astro-ph
10
The categories of this paper are: q-bio