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dc.contributor.advisorAmes, Aaron D.
dc.contributor.authorNadubettu Yadukumar, Shishir
dc.date.accessioned2018-01-22T21:02:06Z
dc.date.available2018-01-22T21:02:06Z
dc.date.created2016-12
dc.date.issued2016-11-23
dc.date.submittedDecember 2016
dc.identifier.urihttp://hdl.handle.net/1853/59140
dc.description.abstractThe 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.
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.publisherGeorgia Institute of Technology
dc.subjectControl Lyapunov functions
dc.subjectInput to state stability
dc.subjectHybrid systems
dc.subjectBipedal robots
dc.titleInput to state stabilizing control Lyapunov functions for hybrid systems
dc.typeDissertation
dc.description.degreePh.D.
dc.contributor.departmentMechanical Engineering
thesis.degree.levelDoctoral
dc.contributor.committeeMemberVela, Patricio A.
dc.contributor.committeeMemberEgerstedt, Magnus B.
dc.contributor.committeeMemberRogers, Jonathan
dc.contributor.committeeMemberUeda, Jun
dc.date.updated2018-01-22T21:02:06Z


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