DocumentCode
404534
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
Volume
2
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
1568
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272835
Filename
1272835
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