Kevin S. Galloway

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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 submanifold Z that is contained in the zero set of an output function and is invariant under both the continuous and discrete dynamics;(More)
This paper presents a novel method to address actuator saturation by directly incorporating user-defined input bounds in 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 controller) enables gradual(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 restriction(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)
We investigate low-dimensional examples of cyclic pursuit in a collective, wherein each agent employs a constant bearing (CB) steering law relative to exactly one other agent. For the case of three agents in the plane, we characterize relative equilibria and pure shape equilibria of associated closed-loop dynamics. Re-scaling time yields a reduction of(More)