全部作者： 劉振澤 田彥濤 周長久 張佩傑 黃孝亮 第1作者單位： 吉林大學通信工程學院自動控制教研室 論文摘要： The paper focuses on the analysis of the stability of symmetric and asymmetric passive gaits using a simple nonlinear biped model based on the anti-phase synchronization control strategy and also continues the investigation into the control of the compass gait biped. A new impulsive control method for chaos suppression of this transformed two periodically forced pendulum system has been developed as well as the establishment of some applicable criteria of eventually exponentially stability. The analysis of the stability of the closed-loop system with different control parameters is completed. The simulation results show the effectiveness of the control strategy and the research results can be applied to the biped robot control theory based on the cyclical and systemic stability control strategy development 關鍵詞： Impulsive Control, Compass-like biped, Anti-phase Synchronization. (瀏覽全文) 發表日期： 2007年09月06日 同行評議：
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