Feedback stabilization of unstable periodic orbits for chaotic passive compass-like biped robot

Author

Lin, Xiangze ; Ding, Yingqian ; Shen, Mingxia ; Li, Shihua

Author_Institution

Coll. of Eng., Nanjing Agric. Univ., Nanjing

fYear

2008

fDate

25-27 June 2008

Firstpage

7285

Lastpage

7290

Abstract

Unstable periodic orbits of the chaotic passive compass-like biped robot which is an typically impulsive dynamical system are stabilized by using energy-shaping control. Because of impossibly instantaneous regulation of the angular and angular velocity of the passive compass-like biped robot, energy damping control with reference energy calculated by using impulsive control is supposed. Sufficient conditions under which the impulsive dynamical system is feedback stabilized are given. Simulation results verify the method.

Keywords

feedback; legged locomotion; nonlinear control systems; stability; angular velocity; chaotic passive compass-like biped robot; energy damping control; energy-shaping control; feedback stabilization; impulsive dynamical system; unstable periodic orbits; Angular velocity; Angular velocity control; Chaos; Control systems; Damping; Feedback; Orbital calculations; Orbital robotics; Orbits; Robot control; chaos; feedback stabilization; impulsive control; impulsive dynamical system; passive compass-like biped robot; periodic orbit;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4594052

Filename

4594052