Control of the nonstationary motion of a hopping machine (path tracking)

被引：8

作者：

Larin, VB ^{[1
]}

机构：

[1] Natl Acad Sci Ukraine, SP Timoshenko Inst Mech, Kiev, Ukraine

来源：

INTERNATIONAL APPLIED MECHANICS | 2003年 / 39卷 / 02期

关键词：

hopping machine; Riccati equation; periodic system;

D O I：

10.1023/A:1023973918155

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

The problem on control of the nonstationary motion of a hopping machine is solved. It is shown that similarly to a walking machine, this problem can be reduced to finding a periodic solution of the discrete Riccati equation. The simulation results are indicative of the efficiency of the algorithm proposed.

引用

页码：232 / 241

页数：10