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Parameter influence on passive dynamic walking of a robot with flat feet

Xiangze Lin, Haibo Du, Shihua Li (2013)

Kybernetika

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,...

Passivity based stabilization of non-minimum phase nonlinear systems

Juan C. Travieso-Torres, Manuel A. Duarte-Mermoud, Petr Zagalak (2009)

Kybernetika

A cascade scheme for passivity-based stabilization of a wide class of nonlinear systems is proposed in this paper. Starting from the definitions and basic concepts of passivity-based stabilization via feedback (which are applicable to minimum phase nonlinear systems expressed in their normal forms) a cascade stabilization scheme is proposed for minimum and non-minimum phase nonlinear systems where the constraint of stable zero dynamics imposed by previous stabilization approaches is abandoned. Simulation...

Poles and zeroes of nonlinear control systems

Jean-François Pommaret (2002)

Kybernetika

During the last ten years, the concepts of “poles” and “zeros” for linear control systems have been revisited by using modern commutative algebra and module theory as a powerful substitute for the theory of polynomial matrices. Very recently, these concepts have been extended to multidimensional linear control systems with constant coefficients. Our purpose is to use the methods of “algebraic analysis” in order to extend these concepts to the variable coefficients case and, as a byproduct, to the...

Polynomial controller design based on flatness

Frédéric Rotella, Francisco Javier Carillo, Mounir Ayadi (2002)

Kybernetika

By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. This design leads to a Bezout equation which is independent of the closed loop dynamics but depends only on the system model.

Protector control: Extension to a class of nonlinear distributed systems

Youssef Qaraai, Abdes Samed Bernoussi (2010)

International Journal of Applied Mathematics and Computer Science

We present an extension of the protector control scheme introduced for the linear case in a previous work to a class of nonlinear systems. The systems considered are assumed to have a finite propagation velocity while the initial state is subject to a spreading disturbance. We characterize such a control first by using the remediability approach to the resulting nonlinear delay system, and then by coupling families of transformations and the delay approach. To illustrate this work, we provide a...

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