跳跃机器人在飞行阶段的不连续反馈镇定

Proceedings. IEEE International Multi Topic Conference, 2001. IEEE INMIC 2001. Technology for the 21st Century. Pub Date : 2001-12-28 DOI:10.1109/INMIC.2001.995335

F. Rehman

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引用次数: 3

摘要

针对跳跃机器人的飞行阶段模型，提出了一种系统的反馈控制方法。反馈控制是分段常数，该方法依赖于李雅普诺夫函数的构造。该Lyapunov函数是两个半正定函数的和，由李代数方法和Frobenius定理确定。构造的李雅普诺夫函数在平均意义上减小。

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Discontinuous feedback stabilization of a hopping robot in flight phase

A systematic approach to the construction of feedback control for set point stabilization is presented for a model of a hopping robot in flight phase. The feedback controls are piece-wise constant and the method relies on the construction of a Lyapunov function. This Lyapunov function is a sum of two semi-positive definite functions, which are determined by using Lie algebraic methods and Frobenius theorem. The constructed Lyapunov function decreases in an average sense.

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Proceedings. IEEE International Multi Topic Conference, 2001. IEEE INMIC 2001. Technology for the 21st Century.

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