Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

DOI10.1080/00207179.2012.713985MaRDI QIDQ4897758zbMATH OpenOpenAlexFDO

Authors Yuming Sun, Christine Qiong Wu

Publication date 27 December 2012

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2012.713985

zbMATH Keywords

Lyapunov exponentsstability analysisstability regionbiped balancing control system

Mathematics Subject Classification ID

Approximation methods and heuristics in mathematical programming (90C59) Linear systems in control theory (93C05) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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Cites work

• A method for construction of stability regions by Lyapunov functions
• Achieving nonvanishing stability regions with high-gain cheap control using \(H^{\infty}\) techniques: the second-order case
• Analysis and control of the jump modes behavior of 2-D singular systems. I: Structural stability
• Bifurcation and stability analysis in musculoskeletal systems: a study in human stance
• Determining Lyapunov exponents from a time series
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Estimation of the largest Lyapunov exponent in systems with impacts
• Nonlinear time series analysis of normal and pathological human walking
• Tuning of a PID controlled gyro by using the bifurcation theory

Cited in

(8)

• On stability analysis via Lyapunov exponents calculated from a time series using nonlinear mapping-a case study
• Lyapunov Stability of a Nonlinear Bio-inspired System for the Control of Humanoid Balance
• Characteristic analyzes, experimental testing and control for attitude system of QUAV under disturbance
• The multivariate largest Lyapunov exponent as an age-related metric of quiet standing balance
• Stability analysis of bipedal robots using the concept of Lyapunov exponents
• Modified Lyapunov exponent, new measure of dynamics
• Bifurcation and stability analysis in musculoskeletal systems: a study in human stance
• Stabilization and extremal properties of resonant modes of bipedal locomotion

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