Title :
Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot
Author :
Fridman, L. ; Aoustin, Y. ; Plestan, F.
Author_Institution :
Dept. of Control, Nat. Autonomous Univ. of Mexico (UNAM), Mexico City, Mexico
Abstract :
The decomposition of the problem of existence and stability for fast periodic solutions of singularly perturbed nonlinear systems with the impact effects is considered. With this aim, theorem for existence and stability of fixed points for corresponding Poincare sections is proved. These results are applied for the decomposition of the control design problem for bipedal robots with heavy torsos.
Keywords :
control system synthesis; legged locomotion; nonlinear control systems; periodic control; singularly perturbed systems; stability; time-varying systems; Poincare section; bipedal walking robot; control design problem; existence decomposition; periodic solutions of systems; singularly perturbed nonlinear systems; stability analysis; Actuators; Hip; Knee; Leg; Legged locomotion; Nonlinear systems; Open loop systems; Robots; Stability analysis; Torso; Impulse systems; Poincarè sections; bipedal robot; singular perturbations;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738650
