Stability analysis and time-varying walking control for an under-actuated planar biped robot

2011 ◽  
Vol 59 (6) ◽  
pp. 444-456 ◽  
Author(s):  
Ting Wang ◽  
Christine Chevallereau
Keyword(s):  
Stability Analysis ◽  
Biped Robot ◽  
Time Varying ◽  
Walking Control

A new control approach for a class of linear switched systems with time-varying delay

2021 ◽  
pp. 014233122199272
Author(s):  
Abbas Zabihi Zonouz ◽  
Mohammad Ali Badamchizadeh ◽  
Amir Rikhtehgar Ghiasi
Keyword(s):  
Stability Analysis ◽  
Linear Matrix Inequalities ◽  
Linear Matrix ◽  
Switching Systems ◽  
Time Varying ◽  
Matrix Inequalities ◽  
Time Varying Delay ◽  
Linear Switching Systems ◽  
The Stability ◽  
Varying Delay

In this paper, a new method for designing controller for linear switching systems with varying delay is presented concerning the Hurwitz-Convex combination. For stability analysis the Lyapunov-Krasovskii function is used. The stability analysis results are given based on the linear matrix inequalities (LMIs), and it is possible to obtain upper delay bound that guarantees the stability of system by solving the linear matrix inequalities. Compared with the other methods, the proposed controller can be used to get a less conservative criterion and ensures the stability of linear switching systems with time-varying delay in which delay has way larger upper bound in comparison with the delay bounds that are considered in other methods. Numerical examples are given to demonstrate the effectiveness of proposed method.

Positivity and Stability Analysis of T-S Fuzzy Descriptor Systems With Bounded and Unbounded Time-Varying Delays

2021 ◽  
pp. 1-12
Author(s):  
Yukang Cui ◽  
Hao Feng ◽  
Wei Zhang ◽  
Zhan Shu ◽  
Tingwen Huang
Keyword(s):  
Stability Analysis ◽  
Descriptor Systems ◽  
Time Varying
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