指数安定化離散制御リアプノフ関数を用いた走行モデルにおけるリミットサイクル間の切り替え
Switching between Limit Cycles in a Model of Running Using Exponentially Stabilizing Discrete Control Lyapunov Function
走行ロボットの複数の周期運動（リミットサイクル）を、制御リアプノフ関数で吸引領域を評価しながら頂点で切り替える手法を提案し、5ステップで2m/sから5m/sへの速度変化を実現した。
著者: Pranav A. Bhounsule, Ali Zamani, Jason Pusey
分類: cs.RO
原文アブストラクト
This paper considers the problem of switching between two periodic motions, also known as limit cycles, to create agile running motions. For each limit cycle, we use a control Lyapunov function to estimate the region of attraction at the apex of the flight phase. We switch controllers at the apex, only if the current state of the robot is within the region of attraction of the subsequent limit cycle. If the intersection between two limit cycles is the null set, then we construct additional limit cycles till we are able to achieve sufficient overlap of the region of attraction between sequential limit cycles. Additionally, we impose an exponential convergence condition on the control Lyapunov function that allows us to rapidly transition between limit cycles. Using the approach we demonstrate switching between 5 limit cycles in about 5 steps with the speed changing from 2 m/s to 5 m/s.
