Periodic motion planning and analytical computation of transverse linearizations for hybrid mechanical systems

Author

Shiriaev, Anton S. ; Freidovich, Leonid B. ; Manchester, Ian R.

Author_Institution

Dept. Appl. Phys. & Electron., Umea Univ., Umea, Sweden

fYear

2008

fDate

9-11 Dec. 2008

Firstpage

4326

Lastpage

4331

Abstract

This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in nonfeedback-linearizable impulsive mechanical systems with control inputs. For a planned motion, a procedure for computation of a transverse linearization for a class of hybrid controlled mechanical systems with underactuation one is presented. The resulting linear comparison system can be used for stability analysis and for design of orbitally stabilizing controllers.

Keywords

linearisation techniques; motion control; path planning; periodic control; robots; stability; hybrid controlled mechanical systems; nonfeedback-linearizable impulsive mechanical systems; periodic motion planning; stability analysis; transverse linearizations; Control systems; Equations; Legged locomotion; Mechanical systems; Motion analysis; Motion control; Nonlinear dynamical systems; Nonlinear systems; Stability; Trajectory; Hybrid mechanical systems; Moving Poincaré section; Orbital stability; Transverse linearization; Virtual holonomic constraints; Walking robots;

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.2008.4738834

Filename

4738834