Identification, Stability and Stabilization of Limit Cycles in a Compass-Gait Biped Model via a Hybrid Poincaré Map

DOI10.1007/978-3-319-30169-3_13zbMath1360.93465OpenAlexW2414467227MaRDI QIDQ2977670

Safya Belghith, Hassène Gritli

Publication date: 19 April 2017

Published in: Advances and Applications in Nonlinear Control Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-319-30169-3_13

zbMATH Keywords

hybrid limit cyclehybrid Poincaré mapimpulsive hybrid nonlinear dynamicscompass-gait biped robotOGY control approach

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) System identification (93B30) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (7)

Design of an explicit expression of the Poincaré map for the passive dynamic walking of the compass-gait biped model ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: analysis of local bifurcations via the hybrid Poincaré map ⋮ Walking dynamics of a semi-passive compass-like robot with impulse thrust ⋮ Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map ⋮ Poincaré maps design for the stabilization of limit cycles in non-autonomous nonlinear systems via time-piecewise-constant feedback controllers with application to the chaotic Duffing oscillator ⋮ A new Poincaré map for investigating the complex walking behavior of the compass-gait biped robot ⋮ Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: rise of the Neimark-Sacker bifurcation

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