Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking

DOI10.1016/J.NAHS.2019.03.002MaRDI QIDQ2283236zbMATH OpenOpenAlexWikidataFDO

Authors Eric Sidorov, Miriam Zacksenhouse

Publication date 30 December 2019

Published in Nonlinear Analysis. Hybrid Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.nahs.2019.03.002

zbMATH Keywords

basin of attractionlimit cyclessum of squaresdynamic walkingPoincaré map

Mathematics Subject Classification ID

Topological structure of integral curves, singular points, limit cycles of ordinary differential equations (34C05) Phase plane analysis, limit cycles for nonlinear problems in mechanics (70K05) Computational methods for invariant manifolds of dynamical systems (37M21)

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Cites work

• scientific article; zbMATH DE number 439900 (Why is no real title available?)
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Control Applications of Sum of Squares Programming
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• Linear Matrix Inequalities in System and Control Theory
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• OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
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• Rank properties of Poincaré maps for hybrid systems with applications to bipedal walking
• Region of attraction estimation using invariant sets and rational Lyapunov functions
• Semidefinite programming relaxations for semialgebraic problems
• Using SeDuMi 1.02, A Matlab toolbox for optimization over symmetric cones

Cited in

(6)

• Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map
• Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
• Probabilistic basin of attraction and its estimation using two Lyapunov functions
• Lyapunov function computation for autonomous systems with complex dynamic behavior
• Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
• A novel moving orthonormal coordinate-based approach for region of attraction analysis of limit cycles

Describes a project that uses

Uses Software

• SOSOPT
• SMRSOFT
• SeDuMi
• Sostools

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