On Periodic Motion of Linear Systems with State Jump-Modelling, Stability Analysis and Feedback Control of Compass Walking

• HIRATA Kentaro

  Graduate School of Engineering, Osaka Prefecture University

• KOKAME Hideki

  Graduate School of Engineering, Osaka Prefecture University

Bibliographic Information

Other Title

• 状態にジャンプを有する線形システムの周期運動―Ｃｏｍｐａｓｓ　Ｗａｌｋｉｎｇのモデリング，安定解析，フィードバック制御
• ジョウタイ ニ ジャンプ オ ユウスル センケイ システム ノ シュウキ ウンドウ Compass Walking ノ モデリング アンテイ カイセキ フィードバック セイギョ
• Modelling, Stability Analysis and Feedback Control of Compass Walking
• Compass Walkingのモデリング, 安定解析, フィードバック制御

Abstract

In this paper, we consider the stability of periodic solution of linear systems with state jump. While this model is general enough to describe the complex dynamics of a class of hybrid systems including the (approximated) biped passive compass walking, it also retains the tractability for the analytic mathematical treatment. With an appropriate definition of the stability, we can justify the use of Poincare map in the analysis. The formula for the linearized Poincare map, which determines the local stability of the periodic solution, is given. The effect of feedback control (for the case that the nominal trajectory is known) is also discussed.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 17 (12), 553-560, 2004

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• stability
• biped walking
• periodic solution
• piecewise affine

Details

• CRID: 1390282680142512512
• NII Article ID: 10014152126
• NII Article ID: 10021141959
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.17.553
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 7181275
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7181275
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed