DocumentCode
2180470
Title
Stability of hybrid system limit cycles: application to the compass gait biped robot
Author
Hiskens, Ian A.
Author_Institution
Dept. of Electr. & Comput. Eng., Illinois Univ., Urbana, IL, USA
Volume
1
fYear
2001
fDate
2001
Firstpage
774
Abstract
Limit cycles are common in hybrid systems. However the nonsmooth dynamics of such systems makes stability analysis difficult. This paper uses recent extensions of trajectory sensitivity analysis to obtain the characteristic multipliers of nonsmooth limit cycles. The stability of a limit cycle is determined by its characteristic multipliers. The concepts are illustrated using a compass gait biped robot example
Keywords
control system analysis; discrete event systems; legged locomotion; limit cycles; sensitivity analysis; stability; characteristic multipliers; compass gait biped robot; hybrid system limit cycles; nonsmooth dynamics; nonsmooth limit cycles; stability analysis; trajectory sensitivity analysis; Application software; Equations; Hybrid power systems; Limit-cycles; Power system control; Power system dynamics; Power systems; Robot sensing systems; Sensitivity analysis; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location
Orlando, FL
Print_ISBN
0-7803-7061-9
Type
conf
DOI
10.1109/.2001.980200
Filename
980200
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