Time-varying Stabilizing Control for a Hopping Robot Model during the Flight Phase

@article{Rehman2006TimevaryingSC,
  title={Time-varying Stabilizing Control for a Hopping Robot Model during the Flight Phase},
  author={Fazal-ur Rehman and M. Waleed Abd El Maguid Ahmed and N. M. Memon and Muhammad Salman Riaz},
  journal={2006 IEEE International Multitopic Conference},
  year={2006},
  pages={400-403}
}
This article presents a time-varying feedback stabilizing control law for a hopping robot model during the flight phase which is an example of nonholonomic control system. The strategy is based on Lyapunov second method. This approach does not necessitate the conversion of the system model into a "chained form", and thus does not rely on any special… CONTINUE READING