吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (增刊2): 292-295.

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Impulsive control of passive compass-like biped robot based on anti-phase synchronization

LI Yong1, DU Qiao-ling2, LIU Zhen-ze1, LIU Fu1   

  1. 1. College of communication Engineering, Jilin University, Changchun 130022, China;
    2. College of Electronic Science and Engineering, Jilin University, Changchun 130012, China
  • Received:2010-05-04 Online:2011-09-30 Published:2011-09-30

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Abstract:

The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits of robot using a simple nonlinear biped model based on the anti-phase synchronization control strategy,and the plantar collision of robot was treated as impulsive force imposed by the ground.A new impulsive control method for chaos suppression has been developed as well as the establishment of some applicable criteria of eventually exponentially stability.The simulation results show the effectiveness of the control strategy.

Key words: automatic control technology, impulsive control, compass-like biped, anti-phases synchronization

CLC Number: 

  • TP242


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