Computation of the Lyapunov exponents in the compass-gait model under OGY control via a hybrid Poincaré map
From MaRDI portal
Publication:508508
DOI10.1016/j.chaos.2015.09.011zbMath1355.93130MaRDI QIDQ508508
Hassène Gritli, Safya Belghith
Publication date: 7 February 2017
Published in: Chaos, Solitons and Fractals (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/j.chaos.2015.09.011
93D05: Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory
93C85: Automated systems (robots, etc.) in control theory
70E60: Robot dynamics and control of rigid bodies
93C30: Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems)
Related Items
Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map, Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation, LCP method for a planar passive dynamic Walker based on an event-driven scheme, Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model, Chaotic behaviour and bifurcation in real dynamics of two-parameter family of functions including logarithmic 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, Global dynamics of a non-smooth system with elastic and rigid impacts and dry friction, Robust position control of a two-sided 1-DoF impacting mechanical oscillator subject to an external persistent disturbance by means of a state-feedback controller, Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map, Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map
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