Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot

@article{Hamed2014ContinuoustimeCF,
  title={Continuous-time controllers for stabilizing periodic orbits of hybrid systems: Application to an underactuated 3D bipedal robot},
  author={Kaveh Akbari Hamed and Brian G. Buss and Jessy W. Grizzle},
  journal={53rd IEEE Conference on Decision and Control},
  year={2014},
  pages={1507-1513}
}
This paper presents a systematic approach to exponentially stabilize periodic orbits in nonlinear systems with impulse effects, a special class of hybrid systems. Stabilization is achieved with a time invariant continuous-time controller. The presented method assumes a parametrized family of continuous-time controllers has been designed so that (1) a periodic orbit is induced, and (2) the orbit itself is invariant under the choice of parameters in the controllers. By investigating the… CONTINUE READING
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