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

Joseph Prosser, Moshe Kam

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationProceedings of the 1st IEEE Conference on Control Applications, CCA 1992
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages136-141
Number of pages6
ISBN (Electronic)0780300475, 9780780300477
DOIs
StatePublished - Jan 1 1992
Externally publishedYes
Event1st IEEE Conference on Control Applications, CCA 1992 - Dayton, United States
Duration: Sep 12 1992Sep 16 1992

Publication series

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

Conference

Conference1st IEEE Conference on Control Applications, CCA 1992
CountryUnited States
CityDayton
Period9/12/929/16/92

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

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