Stability analysis of linear systems with state jump - motivated by periodic motion control of passive walker
Stability analysis of linear systems with state jump - motivated by periodic motion control of passive walker
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状态跳跃线性系统的稳定性分析——由被动步行器的周期性运动控制驱动
DOI：
10.1109/cca.2003.1223138
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Kokame
中科院分区：
文献类型：
--
作者：
Kentaro Hirata;H. Kokame
本文研究具有状态跳变的线性系统周期解的稳定性。例如，当我们考虑被动步行者的周期性运动时，就会出现这样的模型[M. Garcia，et.最简单的步行模型：稳定性，复杂性和缩放，1998年。在我们以前的工作[K。平田H. Kokame和K. Konishi，On stability of simplified passive步行者model and effect of feedback control，2002]，我们通过简化Garcia等人的结果导出了这样一个模型。[T.McGeer，被动动态行走，1990]，并通过庞加莱映射分析其稳定性。在同一框架下，还研究了反馈控制策略OGY和DFC（延迟反馈控制）方法的效果。然而，庞加莱地图是以一种相当特别的方式引入的。本文改进了Poincare映射的数学处理。在定义了一种特殊类型的稳定性的周期解考虑在这里，我们表明，通过庞加莱映射的稳定性是等价于这个特定的定义。还检查了OGY情况下的状态跳转间隔的变化所造成的数据丢失的影响。
In this paper, we study the stability of periodic solutions of linear systems with state jump. Such a model arises, for example, when we consider the periodic motion of passive walkers [M. Garcia, et. al. The simplest walking model: stability, complexity, and scaling, 1998]. In our previous work [K. Hirata, H. Kokame and K. Konishi, On stability of simplified passive walker model and effect of feedback control, 2002], we derived such a model by simplifying the result of Garcia et.al.[T.McGeer, Passive dynamic walking, 1990] and analyzed its stability via the Poincare map. Also the effects of the feedback control strategies, OGY and DFC (delayed feedback control) methods, were examined in the same framework. However, the Poincare map was introduced in a rather ad-hoc manner there. In this paper, we refine the mathematical treatment of the Poincare map. After defining a special type of stability for the periodic solution considered here, we show that the stability via the Poincare map is equivalent to this specific definition. Also the effect of the data loss caused by the variation of the state jump interval in the OGY case is examined.
影响因子：
9.2
作者：
MCGEER, T
通讯作者：
MCGEER, T