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Impulsive Control of the Passive co
全部作者： 刘振泽 田彦涛 周长久 张佩杰 黄孝亮 第1作者单位： 吉林大学通信工程学院自动控制教研室 论文摘要： The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits using a simple nonlinear biped model based on the anti-phase synchronization control strategy and also continues the investigation into the control of the compass gait biped. A new impulsive control method for chaos suppression of this transformed two periodically forced pendulum system has been developed as well as the establishment of some applicable criteria of eventually exponentially stability. The analysis of the stability of the closed-loop system with different control parameters is completed. The simulation results show the effectiveness of the control strategy and the research results can be applied to the biped robot control theory based on the cyclical and systemic stability control strategy development 关键词： Impulsive Control, Compass-like biped, Anti-phase Synchronization. (浏览全文) 发表日期： 2007年09月06日 同行评议：
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