Title :
Control of the hopping apparatus
Author :
Larin, Vladimir B.
Author_Institution :
Inst. of Mech., Acad. of Sci., Kiev, Ukraine
Abstract :
The problem of synthesis of the stabilization system of hopping apparatus is considered. After a brief exposition of the construction of this apparatus and principles of control of such a device, an algorithm of optimization of periodic systems, containing uncertainty, is explained. This algorithm is based on the linear matrix inequalities. It is shown how this algorithm can be used for synthesis of the stabilization system of the hopping apparatus. Outcomes of the mathematical simulation of driving of such device are presented. The control system of such apparatus was synthesized according to the mentioned algorithm
Keywords :
control system synthesis; legged locomotion; mechanical stability; animal locomotion; control system synthesis; hopping apparatus; stabilization; Animals; Control system synthesis; Control systems; Gravity; Leg; Legged locomotion; Linear matrix inequalities; MATLAB; Mathematical model; Uncertainty;
Conference_Titel :
Intelligent Transportation Systems, 2001. Proceedings. 2001 IEEE
Conference_Location :
Oakland, CA
Print_ISBN :
0-7803-7194-1
DOI :
10.1109/ITSC.2001.948688
