DocumentCode
3364822
Title
Lyapunov Stability of Hybrid System Limit Cycle Application to the Compass Gait Biped
Author
Licer, Oumnia ; El Alami, Noureddine ; Mrabti, Mostafa
Author_Institution
Fac. des Sci. et Tech., Fes
fYear
2007
fDate
11-14 Dec. 2007
Firstpage
853
Lastpage
856
Abstract
In this paper a technique using Lyapunov approach for stability analysis of hybrid limit cycle is proposed. The system under consideration is a compass-like biped robot which has continuous dynamic with impulsive effects. After system feedback linearization, we use Lyapunov direct method with LMI formulation to proove stability of the robot periodic gait.
Keywords
Lyapunov methods; legged locomotion; linear matrix inequalities; linearisation techniques; LMI formulation; Lyapunov stability; compass-like biped robot; continuous dynamic; hybrid system limit cycle application; impulsive effects; robot periodic gait; system feedback linearization; Feedback; Hip; Leg; Legged locomotion; Limit-cycles; Lyapunov method; Mathematical model; Robots; Stability analysis; Switches; Hybrid systems; Lyapunov stability; compass gaits; limit cycle;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Circuits and Systems, 2007. ICECS 2007. 14th IEEE International Conference on
Conference_Location
Marrakech
Print_ISBN
978-1-4244-1377-5
Electronic_ISBN
978-1-4244-1378-2
Type
conf
DOI
10.1109/ICECS.2007.4511125
Filename
4511125
Link To Document