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—This paper addresses the problem of exponentially stabilizing periodic orbits in a special class of hybrid models— systems with impulse effects—through control Lyapunov functions. The periodic orbit is assumed to lie in a C 1 submanifold Z that is contained in the zero set of an output function and is invariant under both the continuous and discrete… (More)

— Hybrid zero dynamics extends the Byrnes-Isidori notion of zero dynamics to a class of hybrid models called systems with impulse effects. Specifically, given a smooth submanifold that is contained in the zero set of an output function and is invariant under both the continuous flow of the system with impulse effects as well as its reset map, the… (More)

This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. In particular, we consider the application of bipedal walking and show that our method [based on a quadratic programming (QP) implementation of a control Lyapunov function (CLF)-based… (More)

— This paper reports on an underactuated 3D bipedal robot with passive feet that can start from a quiet standing position, initiate a walking gait, and traverse the length of the laboratory (approximately 10 m) at a speed of roughly 1 m/s. The controller was developed using the method of virtual constraints, a control design method first used on the planar… (More)

— Pursuit strategies (formulated using constant-speed particle models) provide a means for achieving cohesive behavior in systems of multiple mobile agents. In the present paper, we explore an n-agent cyclic pursuit scheme (i.e. agent i pursues agent i + 1, modulo n) in which each agent employs a constant bearing pursuit strategy. We demonstrate the… (More)

— The study of cyclic pursuit as a means to collective behavior in nature and in artificial multi-agent systems is of current interest. Here we examine the nonlinear closed loop dynamics of planar cyclic pursuit based on the constant bearing (CB) strategy. We show that there exists a family of rectilinear relative equilibria that admit nearby periodic… (More)

Overview In this poster, we extend (to the stochastic setting) recent work on 2-dimensional models and steering control laws for motion camouflage, a stealthy pursuit strategy observed in nature. We discuss a family of admissible stochastic evader controls. After presenting the background and deterministic formulation, we discuss the use of a high-gain… (More)

— Pursuit strategies for interacting particles and feedback laws to execute them are formulated in three dimensions , focusing on constant bearing (CB) pursuit – a case of interest in biology. In the analysis of such laws for the setting of n particles engaged in cyclic pursuit, we reveal interesting invariant manifold dynamics and associated explicit… (More)

This paper investigates a modification of cyclic constant bearing (CB) pursuit in a multi-agent system in which each agent pays attention to a neighbor and a beacon. The problem admits shape equilibria with collective circling about the beacon, with the circling radius and angular separation of agents determined by choice of parameters in the feedback law.… (More)

—This work builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and presents a novel method to address actuator saturation in bipedal walking. The proposed method employs quadratic programming (QP) to implement CLF-based controllers, enabling directly incorporating user-specified input bounds into the… (More)

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