Title :
Feedback stabilization of unstable periodic orbits for chaotic passive compass-like biped robot
Author :
Lin, Xiangze ; Ding, Yingqian ; Shen, Mingxia ; Li, Shihua
Author_Institution :
Coll. of Eng., Nanjing Agric. Univ., Nanjing
Abstract :
Unstable periodic orbits of the chaotic passive compass-like biped robot which is an typically impulsive dynamical system are stabilized by using energy-shaping control. Because of impossibly instantaneous regulation of the angular and angular velocity of the passive compass-like biped robot, energy damping control with reference energy calculated by using impulsive control is supposed. Sufficient conditions under which the impulsive dynamical system is feedback stabilized are given. Simulation results verify the method.
Keywords :
feedback; legged locomotion; nonlinear control systems; stability; angular velocity; chaotic passive compass-like biped robot; energy damping control; energy-shaping control; feedback stabilization; impulsive dynamical system; unstable periodic orbits; Angular velocity; Angular velocity control; Chaos; Control systems; Damping; Feedback; Orbital calculations; Orbital robotics; Orbits; Robot control; chaos; feedback stabilization; impulsive control; impulsive dynamical system; passive compass-like biped robot; periodic orbit;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594052
