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Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion

Kolathaya, Shishir and Reher, Jacob and Hereid, Ayonga and Ames, Aaron D. (2018) Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion. In: 2018 Annual American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2224-2230. ISBN 978-1-5386-5428-6. http://resolver.caltech.edu/CaltechAUTHORS:20190205-081346790

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Abstract

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.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/ACC.2018.8430946DOIArticle
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 AACC. This work is supported by the National Science Foundation through grant NRI-1526519.
Funders:
Funding AgencyGrant Number
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190205-081346790
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190205-081346790
Official Citation:S. Kolathaya, J. Reher, A. Hereid and A. D. Ames, "Input to State Stabilizing Control Lyapunov Functions for Robust Bipedal Robotic Locomotion," 2018 Annual American Control Conference (ACC), Milwaukee, WI, 2018, pp. 2224-2230. doi: 10.23919/ACC.2018.8430946
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92651
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 19:29
Last Modified:05 Feb 2019 19:29

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