Conference proceeding
Vertical control for a mechanical model of the one-legged hopping machine
[Proceedings 1992] The First IEEE Conference on Control Applications, pp 136-141 vol.1
1992
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Abstract
A vertical control algorithm is proposed for a one-legged hopping machine. It differs from previous control algorithms in three ways: (i) it uses a near inverse of the machine's dynamics; (ii) it uses discrete-time output feedback, namely, the hopping heights of previous cycles (rather than continuous full state feedback); and (iii) it uses a more realistic model of the hopping machine mechanical components. Numerical simulations are used to assess the ability of the controlled machine to track a piecewise constant height trajectory. Specifically, the sensitivity of the design to deviations in the hopping machine's parameters is studied.< >
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Details
- Title
- Vertical control for a mechanical model of the one-legged hopping machine
- Creators
- J Prosser - Drexel UniversityM Kam - Drexel UniversityIEEE
- Publication Details
- [Proceedings 1992] The First IEEE Conference on Control Applications, pp 136-141 vol.1
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Web of Science ID
- WOS:A1992BY54P00023
- Scopus ID
- 2-s2.0-84994006776
- Other Identifier
- 991019346801104721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Aerospace
- Engineering, Electrical & Electronic