Periodic Motion Planning and Analytical Computation of Transverse Linearizations for Hybrid Mechanical Systems

被引：5
|
作者：
Shiriaev, Anton S. [1 ]
Freidovich, Leonid B. [1 ]
Manchester, Ian R. [1 ]
机构：
[1] Umea Univ, Dept Appl Phys & Elect, SE-90187 Umea, Sweden
来源：
47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年
关键词：
Moving Poincare section; Transverse linearization; Orbital stability; Hybrid mechanical systems; Virtual holonomic constraints; Walking robots;
D O I：
10.1109/CDC.2008.4738834
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in non-feedback-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.
引用
收藏
页码：4326 / 4331
页数：6
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