Periodic Motion Planning and Analytical Computation of Transverse Linearizations for Hybrid Mechanical Systems
2008 (English)Conference paper (Refereed)
This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in non-feedback-linearizable impulsive mechanical systems with control inputs. For a planned motion, a procedure for computation of a transverse linearization for a class of hybrid controlled mechanical systems with underactuation one is presented. The resulting linear comparison system can be used for stability analysis and for design of orbitally stabilizing controllers.
Place, publisher, year, edition, pages
2008. 4326-4331 p.
Moving Poincare section, Transverse linearization, Orbital stability, Hybrid mechanical systems, Virtual holonomic constraints, Walking robots
IdentifiersURN: urn:nbn:se:umu:diva-88125ISI: 000307311604074OAI: oai:DiVA.org:umu-88125DiVA: diva2:713652
47th IEEE Conference on Decision and Control, DEC 09-11, 2008, Cancun, MEXICO