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The biped robot with flat feet and fixed ankles walking down a slope is a typical impulsive dynamic system. Steady passive gaits for such mechanism can be induced on certain shallow slopes without actuation. The steady gaits can be described by using stable non-smooth limit cycles in phase plane. In this paper, it is shown that the robot gaits are affected by three parameters, namely the ground slope, the length of the foot, and the mass ratio of the robot. As the ground slope is gradually increased,...
This paper is concerned with the structure of
asymptotically
stabilizing feedbacks for a nonlinear control system
on .
We first introduce a family of discontinuous, piecewise smooth vector fields
and derive a number of properties enjoyed by
solutions of the corresponding O.D.E's.
We then define a class of “patchy feedbacks”
which are obtained by patching together a locally finite
family of smooth controls.
Our main result shows that,
if a system is asymptotically controllable at the origin,...
Periodic parametric perturbation control and dynamics at infinity for a 3D autonomous quadratic chaotic system are studied in this paper. Using the Melnikov's method, the existence of homoclinic orbits, oscillating periodic orbits and rotating periodic orbits are discussed after transferring the 3D autonomous chaotic system to a slowly varying oscillator. Moreover, the parameter bifurcation conditions of these orbits are obtained. In order to study the global structure, the dynamics at infinity...
This paper studies the periodic feedback stabilization of the controlled linear time-periodic ordinary differential equation: ẏ(t) = A(t)y(t) + B(t)u(t), t ≥ 0, where [A(·), B(·)] is a T-periodic pair, i.e., A(·) ∈ L∞(ℝ+; ℝn×n) and B(·) ∈ L∞(ℝ+; ℝn×m) satisfy respectively A(t + T) = A(t) for a.e. t ≥ 0 and B(t + T) = B(t) for a.e. t ≥ 0. Two periodic stablization criteria for a T-period pair [A(·), B(·)] are established. One is an analytic criterion which is related to the transformation over time...
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