Title :
Stability of hybrid system limit cycles: application to the compass gait biped robot
Author_Institution :
Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL, USA
Abstract :
Limit cycles are common in hybrid systems. However the nonsmooth dynamics of such systems makes stability analysis difficult. This paper uses recent extensions of trajectory sensitivity analysis to obtain the characteristic multipliers of nonsmooth limit cycles. The stability of a limit cycle is determined by its characteristic multipliers. The concepts are illustrated using a compass gait biped robot example
Keywords :
control system analysis; discrete event systems; legged locomotion; limit cycles; sensitivity analysis; stability; characteristic multipliers; compass gait biped robot; hybrid system limit cycles; nonsmooth dynamics; nonsmooth limit cycles; stability analysis; trajectory sensitivity analysis; Application software; Equations; Hybrid power systems; Limit-cycles; Power system control; Power system dynamics; Power systems; Robot sensing systems; Sensitivity analysis; Stability analysis;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980200
