Reduced-order framework for exponential stabilization of periodic orbits on parameterized hybrid zero dynamics manifolds: application to bipedal locomotion

DOI10.1016/j.nahs.2016.08.006zbMath1377.93130WikidataQ115568747 ScholiaQ115568747MaRDI QIDQ2406965

Kaveh Akbari Hamed, Jessy W. Grizzle

Publication date: 4 October 2017

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

Full work available at URL: https://doi.org/10.1016/j.nahs.2016.08.006

zbMATH Keywords

Poincaré map; hybrid periodic orbits; hybrid zero dynamics manifolds; reduced-order exponential stabilization problem; underactuated bipedal robots

Mathematics Subject Classification ID

93C10: Nonlinear systems in control theory

93D25: Input-output approaches in control theory

93C85: Automated systems (robots, etc.) in control theory

93B18: Linearizations

93D20: Asymptotic stability in control theory

70E60: Robot dynamics and control of rigid bodies

Related Items

Symmetries and periodic orbits in simple hybrid Routhian systems, Hybrid disturbance rejection control of dynamic bipedal robots

Uses Software

• YALMIP
• PENBMI

Cites Work

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