Transverse Contraction Criteria for Stability of Nonlinear Hybrid Limit Cycles

Autor:	Tang, Justin Z., Manchester, Ian R.
Rok vydání:	2014
Předmět:	Mathematics - Optimization and Control Computer Science - Robotics Computer Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	In this paper, we derive differential conditions guaranteeing the orbital stability of nonlinear hybrid limit cycles. These conditions are represented as a series of pointwise linear matrix inequalities (LMI), enabling the search for stability certificates via convex optimization tools such as sum-of-squares programming. Unlike traditional Lyapunov-based methods, the transverse contraction framework developed in this paper enables proof of stability for hybrid systems, without prior knowledge of the exact location of the stable limit cycle in state space. This methodology is illustrated on a dynamic walking example. Comment: Conference submission
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1403.5374 Zobrazit plný text záznamu View this record from Arxiv