Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking
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Cites work
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- Control Applications of Sum of Squares Programming
- Convex Computation of the Region of Attraction of Polynomial Control Systems
- Domain of attraction. Analysis and control via SOS programming.
- Formation mechanism of a basin of attraction for passive dynamic walking induced by intrinsic hyperbolicity
- Guaranteed cost \(H_\infty \) controller synthesis for switched systems defined on semi-algebraic sets
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- Hybrid nonnegative and compartmental dynamical systems
- Linear Matrix Inequalities in System and Control Theory
- Local stability analysis using simulations and sum-of-squares programming
- Models, feedback control, and open problems of 3D bipedal robotic walking
- Nonlinear dynamics and chaos. With applications to physics, biology, chemistry, and engineering
- OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
- On the estimation of asymptotic stability regions: State of the art and new proposals
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- Rank deficiency and superstability of hybrid systems
- 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
(7)- Probabilistic basin of attraction and its estimation using two Lyapunov functions
- Lyapunov function computation for autonomous systems with complex dynamic behavior
- A novel moving orthonormal coordinate-based approach for region of attraction analysis of limit cycles
- Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map
- Existence and stability of limit cycles in the model of a planar passive biped walking down a slope
- Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
- Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading
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