Orbital stabilization of an underactuated bipedal gait via nonlinear $${{\mathcal H}}_{\infty }$$ H ∞ -control using measurement feedback
نویسندگان
چکیده
منابع مشابه
Orbital stabilization of an underactuated bipedal gait via nonlinear H∞-control using measurement feedback
The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H∞ output feedback synthesis is developed in the hybrid setting, covering collision phenomena. Sufficient conditions are presented to ensure internal asymptotic stability while also attenuating external disturbances and plant uncertainties. The de...
متن کاملOrbital stabilization of an underactuated bipedal gait via nonlinear H_ H -control using measurement feedback
The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H∞ output feedback synthesis is developed in the hybrid setting, covering collision phenomena. Sufficient conditions are presented to ensure internal asymptotic stability while also attenuating external disturbances and plant uncertainties. The de...
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ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2016
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-015-9543-z