Abstract:
This paper presents a new theoretical control approach for the feedback stabilization of a class of mechanical systems with impulse effects that is based on using Lyapuno...Show MoreMetadata
Abstract:
This paper presents a new theoretical control approach for the feedback stabilization of a class of mechanical systems with impulse effects that is based on using Lyapunov conditions of asymptotic stability as kinematic affine constraints [8] where the corresponding constraint force is the control force. We prove that the condition of existence and uniqueness lead to a system of partial differential equations whose solution is the required Lyapunov function, as a result we apply this approach to design a controller to stabilize limit cycles of a compass-gait biped.
Published in: 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR)
Date of Conference: 24-27 August 2015
Date Added to IEEE Xplore: 01 October 2015
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