2005
DOI: 10.1049/ip-cta:20059065
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Steering control of a hopping robot model during theflight phase

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Cited by 8 publications
(2 citation statements)
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“…So, they approximated their original model of the hopping robot, whose controllability algebra was infinite dimensional, to a simplified model whose controllability Lie algebra was finite dimensional. Then they constructed a time-varying stabilizing feedback law 92,94 for this simplified model. This law construction appeared as a composition of a standard stabilizing time-invariant feedback control for an extended Lie algebraic system and a periodic continuation of a parameterized solution to a finite horizontal trajectory interception problem in logarithmic coordinates.…”
Section: Strategies Based On Internal Motion Dynamicsmentioning
confidence: 99%
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“…So, they approximated their original model of the hopping robot, whose controllability algebra was infinite dimensional, to a simplified model whose controllability Lie algebra was finite dimensional. Then they constructed a time-varying stabilizing feedback law 92,94 for this simplified model. This law construction appeared as a composition of a standard stabilizing time-invariant feedback control for an extended Lie algebraic system and a periodic continuation of a parameterized solution to a finite horizontal trajectory interception problem in logarithmic coordinates.…”
Section: Strategies Based On Internal Motion Dynamicsmentioning
confidence: 99%
“…In continuation of his earlier work, 92,93 Rehman suggested a second practical approach, i.e., discontinuous feedback control technique 94 for controlling a hopping robot in flight phase. His approach to construct a stabilizing feedback control law was dependent on the selection of a Lyapunov function.…”
Section: Strategies Based On Internal Motion Dynamicsmentioning
confidence: 99%