Vertical control for a mechanical model of the one-legged hopping machine

Joseph Prosser; Moshe Kam

doi:10.1109/CCA.1992.269886

Vertical control for a mechanical model of the one-legged hopping machine

Joseph Prosser, Moshe Kam

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

6 Scopus citations

Abstract

A vertical control algorithm is proposed for a onelegged hopping machine. It differs from previous control algorithms in three areas: (i) it uses a nearinverse of the machine's dynamics; (ii) it uses discretetime output feedback, namely the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it employs a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine's to track a piecewise constant height trajectory. Specifically, we study the sensitivity of the design to deviations in the hopping machine's parameters.

Original language	English (US)
Title of host publication	Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	136-141
Number of pages	6
ISBN (Electronic)	0780300475, 9780780300477
DOIs	https://doi.org/10.1109/CCA.1992.269886
State	Published - 1992
Externally published	Yes
Event	1st IEEE Conference on Control Applications, CCA 1992 - Dayton, United States Duration: Sep 12 1992 → Sep 16 1992

Publication series

Name	Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

Conference

Conference	1st IEEE Conference on Control Applications, CCA 1992
Country/Territory	United States
City	Dayton
Period	9/12/92 → 9/16/92

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Control and Optimization
Computer Science (miscellaneous)
Control and Systems Engineering
Aerospace Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/CCA.1992.269886

Cite this

Prosser, J., & Kam, M. (1992). Vertical control for a mechanical model of the one-legged hopping machine. In Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992 (pp. 136-141). Article 269886 (Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.1992.269886

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title = "Vertical control for a mechanical model of the one-legged hopping machine",

abstract = "A vertical control algorithm is proposed for a onelegged hopping machine. It differs from previous control algorithms in three areas: (i) it uses a nearinverse of the machine's dynamics; (ii) it uses discretetime output feedback, namely the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it employs a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine's to track a piecewise constant height trajectory. Specifically, we study the sensitivity of the design to deviations in the hopping machine's parameters.",

author = "Joseph Prosser and Moshe Kam",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1st IEEE Conference on Control Applications, CCA 1992 ; Conference date: 12-09-1992 Through 16-09-1992",

year = "1992",

doi = "10.1109/CCA.1992.269886",

language = "English (US)",

series = "Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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}

Prosser, J & Kam, M 1992, Vertical control for a mechanical model of the one-legged hopping machine. in Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992., 269886, Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992, Institute of Electrical and Electronics Engineers Inc., pp. 136-141, 1st IEEE Conference on Control Applications, CCA 1992, Dayton, United States, 9/12/92. https://doi.org/10.1109/CCA.1992.269886

Vertical control for a mechanical model of the one-legged hopping machine. / Prosser, Joseph; Kam, Moshe.
Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992. Institute of Electrical and Electronics Engineers Inc., 1992. p. 136-141 269886 (Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Vertical control for a mechanical model of the one-legged hopping machine

AU - Prosser, Joseph

AU - Kam, Moshe

PY - 1992

Y1 - 1992

N2 - A vertical control algorithm is proposed for a onelegged hopping machine. It differs from previous control algorithms in three areas: (i) it uses a nearinverse of the machine's dynamics; (ii) it uses discretetime output feedback, namely the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it employs a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine's to track a piecewise constant height trajectory. Specifically, we study the sensitivity of the design to deviations in the hopping machine's parameters.

AB - A vertical control algorithm is proposed for a onelegged hopping machine. It differs from previous control algorithms in three areas: (i) it uses a nearinverse of the machine's dynamics; (ii) it uses discretetime output feedback, namely the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it employs a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine's to track a piecewise constant height trajectory. Specifically, we study the sensitivity of the design to deviations in the hopping machine's parameters.

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SP - 136

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BT - Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 1st IEEE Conference on Control Applications, CCA 1992

Y2 - 12 September 1992 through 16 September 1992

ER -

Vertical control for a mechanical model of the one-legged hopping machine

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All Science Journal Classification (ASJC) codes

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