Lyapunov stability of hybrid system limit cycle application to the compass gait biped

被引：1
|
作者：
Licer, Oumnia [1 ]
El Alami, Noureddine [2 ]
Mrabti, Mostafa [1 ]
机构：
[1] Fac Sci & Tech, Fes BP 2202, Fes, Morocco
[2] Mohammadia sch Engn, Lab Automat &comp Ind, Rabat, Morocco
来源：
2007 14TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONICS, CIRCUITS AND SYSTEMS, VOLS 1-4 | 2007年
关键词：
hybrid systems; Lyapunov stability; limit cycle; compass gaits;
D O I：
10.1109/ICECS.2007.4511125
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper a technique using Lyapunov approach for stability analysis of hybrid limit cycle is proposed. The system under consideration is a compass-like biped robot which has continuous dynamic with impulsive effects. After system feedback linearization, we use Lyapunov direct method with LMI formulation to proove stability of the robot periodic gait
引用
收藏
页码：853 / +
页数：2
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