Nonlinear orbital H∞-stabilization of underactuated mechanical systems with unilateral constraints

被引：0
|
作者：
Montano, Oscar [1 ,2 ]
Orlov, Yury [1 ]
Aoustin, Yannick [2 ]
Chevallereau, Christine [2 ]
机构：
[1] Ctr Sci Res & Higher Educ Ensenada, Dept Elect & Telecommun, Carretera Ensenada Tijuana 3918, Ensenada 22860, BC, Mexico
[2] Univ Nantes, LUNAM, Inst Rech Commun & Cybernet Nantes, UMR CNRS 6597,Ecole Cent Nantes,CNRS, F-44321 Nantes 3, France
来源：
2015 EUROPEAN CONTROL CONFERENCE (ECC) | 2015年
关键词：
hybrid systems; robust control; biped; orbital stability; unilateral constraints; underactuated systems; STABILITY;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The present investigation introduces a novel control strategy for hybrid dynamic systems with unilateral constraints. Sufficient conditions are presented to ensure internal asymptotic stability and external disturbances attenuation. The developed synthesis is applied to the orbital stabilization of an underactuated bipedal robot periodically touching the ground. Good performance of the closed-loop system is obtained not only in the presence of external disturbances, affecting the gait of the biped between impacts and under uncertainties at the velocity restitution when the ground collision occurs.
引用
收藏
页码：806 / 811
页数：6
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