Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics
Local input-to-state stability of dynamic walking under persistent external excitation using hybrid zero dynamics
复制标题
使用混合零动力学在持续外部激励下动态行走的局部输入状态稳定性
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
I. Poulakakis
中科院分区：
文献类型：
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作者：
Sushant Veer;Mohamad Shafiee Motahar;I. Poulakakis
建立了持续外源强迫作用下动态(极限环)行走两足动物的局部输入状态稳定性(ISS)。对于涉及行走的Biped与外部代理交互的应用程序，Biped应该能够根据外力调整其运动。本地ISS保证了两足动物将继续采取步骤的外源力量的大小。针对点足两足动物，在混合零动力学(HZD)的框架下设计了控制器，在没有外力的情况下产生指数稳定的步行步态。当外部分段恒力作用于两足动物时，相应的HZD被证明是局部ISS。在横向动力学收敛速度足够快的假设下，证明了全阶两足动物的局部ISS。这些结果提供了迈向一个严格框架的第一步，在这个框架内，可以分析在外部强迫影响下涉及动态运动的任务。
This paper establishes local input-to-state stability (ISS) of a dynamically (limit-cycle) walking biped under the effect of persistent exogenous forcing. For applications involving interaction of a walking biped with an external agent, the biped should be able to adapt its locomotion to external forces. Local ISS guarantees a bound on the magnitude of the exogenous force within which the biped will continue taking steps. On a point foot biped, a controller is developed within the framework of hybrid zero dynamics (HZD) to generate an exponentially stable walking gait in the absence of the external force. The corresponding HZD is shown to be locally ISS when an external piecewise constant force acts on the biped. Local ISS for the full-order biped is then proved under the assumption of sufficiently fast convergence rates of the transversal dynamics. These results provide a first step toward a rigorous framework within which tasks that involve dynamic locomotion under the influence of external forcing can be analyzed.