Stability of Hybrid System Limit Cycles: Application to the Compass Gait Biped Robot
نویسنده
چکیده
Limit cycles are common in hybrid systems. However the non-smooth dynamics of such systems makes stability analysis difficult. This paper uses recent extensions of trajectory sensitivity analysis to obtain the characteristic multipliers of non-smooth limit cycles. The stability of a limit cycle is determined by its characteristic multipliers. The concepts are illustrated using a compass gait biped robot example.
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