# Spiking Neuromorphic Controller Stabilizes Periodic Orbits in Underactuated Robots: A Greedy Lyapunov-Based Approach

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gxww3wp9xfdnsk7viu4zo5eom
- Original: https://arxiv.org/abs/2610.37310

## Summary

This paper investigates event-driven spiking controllers implemented as spiking neural networks for trajectory tracking in underactuated robots, with the goal of stabilizing a prescribed periodic orbit. The authors reduce orbital stabilization to stabilizing the trivial solution of a periodic linear time-varying system via transverse linearization, and extend a Lyapunov-based greedy design originally developed for LTI systems to this periodic LTV transverse dynamics, thereby constructing a feedback controller. The method's effectiveness is demonstrated on the trajectory stabilization problem for the butterfly robot.