Title :
Discontinuous feedback stabilization of a hopping robot in flight phase
Author_Institution :
Fac. of Electron. Eng., GIK Inst. of Eng. Sci. & Technol., Swabi
Abstract :
A systematic approach to the construction of feedback control for set point stabilization is presented for a model of a hopping robot in flight phase. The feedback controls are piece-wise constant and the method relies on the construction of a Lyapunov function. This Lyapunov function is a sum of two semi-positive definite functions, which are determined by using Lie algebraic methods and Frobenius theorem. The constructed Lyapunov function decreases in an average sense.
Keywords :
Lie algebras; Lyapunov methods; control system synthesis; feedback; legged locomotion; robot kinematics; sampled data systems; stability; Frobenius theorem; Lie algebraic methods; Lyapunov function; discontinuous feedback stabilization; flight phase; hopping robot; piecewise constant controls; semi-positive definite functions; set point stabilization; Aerospace engineering; Algebra; Feedback control; Kinematics; Leg; Legged locomotion; Lyapunov method; Open loop systems; Orbital robotics; Robots;
Conference_Titel :
Multi Topic Conference, 2001. IEEE INMIC 2001. Technology for the 21st Century. Proceedings. IEEE International
Print_ISBN :
0-7803-7406-1
DOI :
10.1109/INMIC.2001.995335
