Title :
Lyapunov Stability of Hybrid System Limit Cycle Application to the Compass Gait Biped
Author :
Licer, Oumnia ; El Alami, Noureddine ; Mrabti, Mostafa
Author_Institution :
Fac. des Sci. et Tech., Fes
Abstract :
In this paper a technique using Lyapunov approach for stability analysis of hybrid limit cycle is proposed. The system under consideration is a compass-like biped robot which has continuous dynamic with impulsive effects. After system feedback linearization, we use Lyapunov direct method with LMI formulation to proove stability of the robot periodic gait.
Keywords :
Lyapunov methods; legged locomotion; linear matrix inequalities; linearisation techniques; LMI formulation; Lyapunov stability; compass-like biped robot; continuous dynamic; hybrid system limit cycle application; impulsive effects; robot periodic gait; system feedback linearization; Feedback; Hip; Leg; Legged locomotion; Limit-cycles; Lyapunov method; Mathematical model; Robots; Stability analysis; Switches; Hybrid systems; Lyapunov stability; compass gaits; limit cycle;
Conference_Titel :
Electronics, Circuits and Systems, 2007. ICECS 2007. 14th IEEE International Conference on
Conference_Location :
Marrakech
Print_ISBN :
978-1-4244-1377-5
Electronic_ISBN :
978-1-4244-1378-2
DOI :
10.1109/ICECS.2007.4511125
