Problems of control of a hopping apparatus

A problem of a control of the hopping apparatus model is considered. Relations determined by a program mode of movement are presented. The problem of synthesis of a stabilization system is reduced to a periodic linear quadratic problem. Flexibility of such a procedure of synthesis is noted. In particular, it is shown, that a similar approach may be applied to the synthesis of a control system of hopping apparatus which would be supplied by a telescopic leg as well as by two segment legs. Examples of synthesis of a control system of hopping apparatus are considered. The results of the simulation of the apparatus start process are presented.