Title :
Periodic motion planning and analytical computation of transverse linearizations for hybrid mechanical systems
Author :
Shiriaev, Anton S. ; Freidovich, Leonid B. ; Manchester, Ian R.
Author_Institution :
Dept. Appl. Phys. & Electron., Umea Univ., Umea, Sweden
Abstract :
This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in nonfeedback-linearizable impulsive mechanical systems with control inputs. For a planned motion, a procedure for computation of a transverse linearization for a class of hybrid controlled mechanical systems with underactuation one is presented. The resulting linear comparison system can be used for stability analysis and for design of orbitally stabilizing controllers.
Keywords :
linearisation techniques; motion control; path planning; periodic control; robots; stability; hybrid controlled mechanical systems; nonfeedback-linearizable impulsive mechanical systems; periodic motion planning; stability analysis; transverse linearizations; Control systems; Equations; Legged locomotion; Mechanical systems; Motion analysis; Motion control; Nonlinear dynamical systems; Nonlinear systems; Stability; Trajectory; Hybrid mechanical systems; Moving Poincaré section; Orbital stability; Transverse linearization; Virtual holonomic constraints; Walking robots;
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.2008.4738834
