Stability of hybrid system limit cycles: Application to the compass gait biped robot

被引：0
|
作者：
Hiskens, IA [1 ]
机构：
[1] Univ Illinois, Dept Elect & Comp Engn, Urbana, IL 61801 USA
来源：
PROCEEDINGS OF THE 40TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 | 2001年
关键词：
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：
Limit cycles are common in hybrid systems. However the non-smooth dynamics of such systems makes stability analysis difficult. This paper uses recent extensions of trajectory sensitivity analysis to obtain the characteristic multipliers of non-smooth limit cycles. The stability of a limit cycle is determined by its characteristic multipliers. The concepts are illustrated using a compass gait biped robot example.
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页码：774 / 779
页数：6
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