Impulsive Control of the Passive compass-like biped Robot Based on Anti-phase Synchronization

Zhenze Liu; Yantao Tian; Changjiu Zhou; Peijie Zhang; Xiaoliang Huang

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Impulsive Control of the Passive compass-like biped Robot Based on Anti-phase Synchronization

Zhenze Liu 1 * #,Yantao Tian 1 #,Changjiu Zhou 2 #,Peijie Zhang 1 #,Xiaoliang Huang 1 #

1.Dept. of Communication Engineering, Jilin University of China

2.Advanced Robotics and Intelligent Control Center, School of Electrical and Electronic Engineering, Singapore Polytechnic

*Correspondence author

#Submitted by

Subject:

Funding: 国家高技术研究发展计划（863计划）（No.2006AA04Z251）

Opened online: 6 September 2007

Accepted by: none

Citation: Zhenze Liu ,Yantao Tian,Changjiu Zhou.Impulsive Control of the Passive compass-like biped Robot Based on Anti-phase Synchronization[OL]. [ 6 September 2007] http://en.paper.edu.cn/en_releasepaper/content/14915

The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits using a simple nonlinear biped model based on the anti-phase synchronization control strategy and also continues the investigation into the control of the compass gait biped. A new impulsive control method for chaos suppression of this transformed two periodically forced pendulum system has been developed as well as the establishment of some applicable criteria of eventually exponentially stability. The analysis of the stability of the closed-loop system with different control parameters is completed. The simulation results show the effectiveness of the control strategy and the research results can be applied to the biped robot control theory based on the cyclical and systemic stability control strategy development

Keywords:Impulsive Control, Compass-like biped, Anti-phase Synchronization.

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