In this paper, we report on a new stability analysis for hybrid legged locomotion systems based on factorization of return maps. We apply this analysis to a family of models of th...
Richard Altendorfer, Daniel E. Koditschek, Philip ...
In this paper we will extend the input-to-state stability (ISS) framework to continuous-time discontinuous dynamical systems (DDS) adopting piecewise smooth ISS Lyapunov functions...
— This paper studies the problem of stabilizing wheeled mobile robots (WMRs) subject to wheel slippage to a predefined set. When slippage of the wheels can occur, WMRs can be mo...
— This paper studies a class of hybrid systems with linear (or linear plus saturated linear) continuous and discrete dynamics, which are determined by a flow map and jump map, a...
Dan Dai, Ricardo G. Sanfelice, Tingshu Hu, Andrew ...
This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using switching controllers. To this effect we introduce two new classes o...