{"title":"Small-gain based stabilizing control for hybrid systems: Application to bipedal walking robot","authors":"Fatemeh Khademian, Mehdi Rahmani","doi":"10.1049/cth2.12612","DOIUrl":null,"url":null,"abstract":"<p>This study presents a systematic methodology for developing a stabilizing controller for a general hybrid systems model. The approach is based on utilizing the small-gain theorem as a means of constructing the Lyapunov function and analyzing the input–output stability of the subsystems in the feedback loop. By considering the control system in a closed-loop configuration with the hybrid system, the small-gain theorem can be applied. In this scheme, a dynamic control system is proposed that satisfies the closed-loop stability conditions. This method applies to various hybrid systems' applications due to its generality. To demonstrate the effectiveness and performance of the proposed control approach, two simulation examples, including a linear hybrid system and a bipedal walking robot, are examined.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":null,"pages":null},"PeriodicalIF":2.2000,"publicationDate":"2024-01-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12612","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Control Theory and Applications","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cth2.12612","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This study presents a systematic methodology for developing a stabilizing controller for a general hybrid systems model. The approach is based on utilizing the small-gain theorem as a means of constructing the Lyapunov function and analyzing the input–output stability of the subsystems in the feedback loop. By considering the control system in a closed-loop configuration with the hybrid system, the small-gain theorem can be applied. In this scheme, a dynamic control system is proposed that satisfies the closed-loop stability conditions. This method applies to various hybrid systems' applications due to its generality. To demonstrate the effectiveness and performance of the proposed control approach, two simulation examples, including a linear hybrid system and a bipedal walking robot, are examined.
期刊介绍：
IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces.
Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed.
Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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