OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot

DOI10.1007/s11071-014-1747-9zbMath1345.93114OpenAlexW1969101332WikidataQ56425517 ScholiaQ56425517MaRDI QIDQ493958

Safya Belghith, Hassène Gritli, Nahla Khraief

Publication date: 7 September 2015

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-014-1747-9

zbMATH Keywords

chaos controlconstrained controlled Poincaré maplinearization around hybrid limit cycleOGY-based controlsemi-passive dynamic walkingtorso-driven biped robot

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Dynamical systems in control (37N35) Simulation of dynamical systems (37M05) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Chaos control for problems involving ordinary differential equations (34H10)

Related Items (17)

Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ Stabilization of the unstable equilibrium points of the fractional-order BLDCM chaotic system in the sense of Lyapunov by a single-state variable ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Takagi-Sugeno fuzzy generalized predictive control for a class of nonlinear systems ⋮ Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Dynamical analysis and anti-oscillation-based adaptive control of the FO arch MEMS with optimality ⋮ Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map ⋮ Poincaré maps design for the stabilization of limit cycles in non-autonomous nonlinear systems via time-piecewise-constant feedback controllers with application to the chaotic Duffing oscillator ⋮ Stabilization and optimization of linear systems via pathwise state-feedback impulsive control ⋮ Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map ⋮ Walking dynamics of the passive compass-gait model under OGY-based control: emergence of bifurcations and chaos ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation ⋮ Lyapunov based estimation of the basin of attraction of Poincaré maps with applications to limit cycle walking ⋮ Anti-oscillation and chaos control of the fractional-order brushless DC motor system via adaptive echo state networks ⋮ Displayed phenomena in the semi-passive torso-driven biped model under OGY-based control method: birth of a torus bifurcation ⋮ An Optimal Framework for Nonfeedback Stability Control of Chaos

Cites Work

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• New bifurcations in the simplest passive walking model
• INTERMITTENCY AND INTERIOR CRISIS AS ROUTE TO CHAOS IN DYNAMIC WALKING OF TWO BIPED ROBOTS
• Controlling chaos
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• Control of chaos: methods and applications in mechanics

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