Title :
Stabilization of periodic orbits in a wedge billiard
Author :
Sepulchre, Rodolphe ; Gerard, Manuel
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Liege Univ., Belgium
Abstract :
This paper introduces a stabilization problem for an elementary impact control system in the plane. The rich dynamical properties of the wedge billiard, combined to the relevance of the associated stabilization problem for feedback control issues in legged robotics make it a valuable benchmark for energy-based stabilization of impact control systems.
Keywords :
feedback; impact (mechanical); legged locomotion; mechanical variables control; periodic control; stability; elementary impact control system; feedback control; legged robotics; periodic orbits; stabilization problem; wedge billiard; Aerospace materials; Arm; Buildings; Control systems; Feedback control; Gravity; Legged locomotion; Motion control; Orbits; Robots;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272835
