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.
CITATION STYLE
Hiskens, I. A. (2001). Stability of hybrid system limit cycles: Application to the compass gait biped robot. In Proceedings of the IEEE Conference on Decision and Control (Vol. 1, pp. 774–779). https://doi.org/10.1109/cdc.2001.980200
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