On the chaotic behavior of the hybrid inverted pendulum and its relation to the lateral dynamics of the walking robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F18%3A00495831" target="_blank" >RIV/67985556:_____/18:00495831 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1016/j.ifacol.2018.12.078" target="_blank" >http://dx.doi.org/10.1016/j.ifacol.2018.12.078</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.ifacol.2018.12.078" target="_blank" >10.1016/j.ifacol.2018.12.078</a>

Jazyk výsledku

angličtina

Název v původním jazyce

On the chaotic behavior of the hybrid inverted pendulum and its relation to the lateral dynamics of the walking robots

Popis výsledku v původním jazyce

Dynamics of the so-called hybrid inverted pendulum is studied here. Motivation is the lateral stability of the planar walking strategies applied to more realistic settings. The influence of the lateral harmonic forcing of the hybrid inverted pendulum is analyzed. It is shown numerically that reasonable sized forcing imposes the bounded oscillatory behavior. The main contribution is the detection of the possible chaotic behavior created in the above way. The extensive simulations present quite complex bounded behaviors and for some of them their largest Lyapunov exponent is shown to be positive. This supports the idea that the chaotic behavior is present there. The positive Lyapunov exponent is determined as the smallest coupling coe cient enforcing the synchronization of the simple master-slave con guration of the hybrid inverted pendulum and its copy.

Název v anglickém jazyce

On the chaotic behavior of the hybrid inverted pendulum and its relation to the lateral dynamics of the walking robots

Popis výsledku anglicky

Dynamics of the so-called hybrid inverted pendulum is studied here. Motivation is the lateral stability of the planar walking strategies applied to more realistic settings. The influence of the lateral harmonic forcing of the hybrid inverted pendulum is analyzed. It is shown numerically that reasonable sized forcing imposes the bounded oscillatory behavior. The main contribution is the detection of the possible chaotic behavior created in the above way. The extensive simulations present quite complex bounded behaviors and for some of them their largest Lyapunov exponent is shown to be positive. This supports the idea that the chaotic behavior is present there. The positive Lyapunov exponent is determined as the smallest coupling coe cient enforcing the synchronization of the simple master-slave con guration of the hybrid inverted pendulum and its copy.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20201 - Electrical and electronic engineering

Projekt

<a href="/cs/project/GA17-04682S" target="_blank" >GA17-04682S: Řízení kráčejících robotů metodou sladěných virtuálních holonomních omezení</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

IFAC-PapersOnLine. Volume 51, Issue 33. : 5th IFAC Conference on Analysis and Control of Chaotic Systems CHAOS 2018

ISBN

—

ISSN

2405-8963

e-ISSN

—

Počet stran výsledku

7

Strana od-do

15-21

Název nakladatele

Elsevier

Místo vydání

Amsterdam

Místo konání akce

Eindhoven

Datum konání akce

30. 10. 2018

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000454546300004