Lyapunov analysis of rigid body systems with impacts and friction via sums-of-squares

DOI10.1145/2461328.2461340zbMath1364.70020OpenAlexW2026590615MaRDI QIDQ2986911

Michael Posa, Russ Tedrake, Mark M. Tobenkin

Publication date: 16 May 2017

Published in: Proceedings of the 16th international conference on Hybrid systems: computation and control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1145/2461328.2461340

zbMATH Keywords

Lyapunov analysissums-of-squaresstability verificationrigid-body dynamics with impacts and friction

Mathematics Subject Classification ID

Asymptotic stability in control theory (93D20) Robot dynamics and control of rigid bodies (70E60) Artificial intelligence for robotics (68T40)

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