Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot

Author

Fridman, L. ; Aoustin, Y. ; Plestan, F.

Author_Institution

Dept. of Control, Nat. Autonomous Univ. of Mexico (UNAM), Mexico City, Mexico

fYear

2008

fDate

9-11 Dec. 2008

Firstpage

5238

Lastpage

5243

Abstract

The decomposition of the problem of existence and stability for fast periodic solutions of singularly perturbed nonlinear systems with the impact effects is considered. With this aim, theorem for existence and stability of fixed points for corresponding Poincare sections is proved. These results are applied for the decomposition of the control design problem for bipedal robots with heavy torsos.

Keywords

control system synthesis; legged locomotion; nonlinear control systems; periodic control; singularly perturbed systems; stability; time-varying systems; Poincare section; bipedal walking robot; control design problem; existence decomposition; periodic solutions of systems; singularly perturbed nonlinear systems; stability analysis; Actuators; Hip; Knee; Leg; Legged locomotion; Nonlinear systems; Open loop systems; Robots; Stability analysis; Torso; Impulse systems; Poincarè sections; bipedal robot; singular perturbations;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2008. CDC 2008. 47th IEEE Conference on

Conference_Location

Cancun

ISSN

0191-2216

Print_ISBN

978-1-4244-3123-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2008.4738650

Filename

4738650