Small‐gain based stabilizing control for hybrid systems: Application to bipedal walking robot
Abstract This study presents a systematic methodology for developing a stabilizing controller for a general hybrid systems model. The approach is based on utilizing the small‐gain theorem as a means of constructing the Lyapunov function and analyzing the input–output stability of the subsystems in t...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2024-04-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12612 |