Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics

DOI10.1016/j.cnsns.2019.104949zbMath1451.93343OpenAlexW2969101933WikidataQ127374319 ScholiaQ127374319MaRDI QIDQ2205379

Zhuping Wang, Qijun Chen, Helin Wang, Hao Zhang

Publication date: 20 October 2020

Published in: Communications in Nonlinear Science and Numerical Simulation (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.cnsns.2019.104949

zbMATH Keywords

control Lyapunov functionnonlinear impulsive systemsfinite-time stability of periodic orbithybrid zero dynamics

Mathematics Subject Classification ID

Feedback control (93B52) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Finite-time stability (93D40) Impulsive control/observation systems (93C27)

Related Items (5)

Finite-Time Stabilization of the Fractional Model of the Driven Dissipative Nonlinear Pendulum ⋮ Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty ⋮ Interval stability/stabilization and \(H_\infty\) feedback control for linear impulsive stochastic systems ⋮ Perturbation-based approximate analytic solutions to an articulated SLIP model for legged robots

Cites Work

• Optimal prediction of human postural response under anterior-posterior platform tilting
• Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture
• Linear convexity conditions for rectangular and triangular Bernstein-Bézier surfaces
• Finite-time stability and settling-time estimation of nonlinear impulsive systems
• Review of stability and stabilization for impulsive delayed systems
• Design of orbitally stable zero dynamics for a class of nonlinear systems
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Finite Time Stability and Robust Control Synthesis of Uncertain Switched Systems
• Lyapunov Theory for Zeno Stability

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