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    Input to state stabilizing control Lyapunov functions for hybrid systems

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    NADUBETTUYADUKUMAR-DISSERTATION-2016.pdf (10.95Mb)
    timeplusstatebasedwalkingdurus.mp4 (36.04Mb)
    run.mp4 (19.50Mb)
    runningsuccess.mp4 (13.50Mb)
    Date
    2016-11-23
    Author
    Nadubettu Yadukumar, Shishir
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    Abstract
    The thesis analyzes the input-to-state stability (ISS) properties of control Lyapunov functions (CLFs) that stabilize hybrid systems. Systems that are input-to-state stable tend to be robust to modeling and sensing uncertainties. This dissertation will show that, given the class of control Lyapunov functions (CLFs), a subset of this class of control Lyapunov functions (CLFs) that input-to-state stabilize the given hybrid system, exists. These functions are called the input-to-state stabilizing control Lyapunov functions (ISS-CLFs). As an application, these ISS-CLFs are constructed for bipedal robots, which belong to a special class of hybrid systems: systems with impulsive effects. Bipedal robotic behaviors such as walking, running and dancing are implemented by utilizing variants of input-to-state stabilizing controllers both in simulations and experiments.
    URI
    http://hdl.handle.net/1853/59140
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    • Georgia Tech Theses and Dissertations [23877]
    • School of Mechanical Engineering Theses and Dissertations [4086]

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