Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion
Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion
复制标题
用于鲁棒双足机器人运动的状态稳定控制李亚普诺夫函数的输入
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
A. Ames
中科院分区：
文献类型：
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作者：
Shishir N Y Kolathaya;Jake Reher;Ayonga Hereid;A. Ames
本文分析了镇定混合周期轨道的控制器的输入状态稳定性。输入状态稳定的系统往往对建模和传感不确定性具有鲁棒性。本文的主要贡献是在控制李雅普诺夫函数的建设，不只是稳定，但也输入状态稳定一个给定的混合动力系统。双足机器人行走，这可以自然地建模为一个混合动力系统，分析下这类控制器。具体来说，我们将选择一类控制器，通过快速指数稳定控制李雅普诺夫函数，稳定双足机器人行走，通常建模为混合周期轨道。我们将通过仿真结果表明，给定控制李雅普诺夫函数和相关联的一组稳定控制器，存在输入到状态稳定控制李雅普诺夫函数和相关联的一组控制器，输入到状态稳定给定的周期轨道。
This paper analyzes the input to state stability properties of controllers which stabilize hybrid periodic orbits. Systems that are input to state stable tend to be robust to modeling and sensing uncertainties. The main contribution of this paper is in the construction of control Lyapunov functions that do not just stabilize, but also input to state stabilize a given hybrid system. Bipedal robotic walking, which can be naturally modeled as a hybrid system, is analyzed under this class of controllers. Specifically, we will select a class of controllers via rapidly exponentially stabilizing control Lyapunov functions that stabilize bipedal robotic walking; typically modeled as hybrid periodic orbits. We will show with simulation results that given the control Lyapunov functions and the associated set of stabilizing controllers, there exist input to state stabilizing control Lyapunov functions and the associated set of controllers that input to state stabilize the given periodic orbit.