On Lyapunov's stability control of two-link base-excited inverted pendulums with applications to human locomotion.
Christine Qiong WuRyan SwainPublished in: SMC (2000)
Keyphrases
- lyapunov function
- fault tolerant control
- control theory
- stability analysis
- asymptotic stability
- control method
- control system
- adaptive control
- legged robots
- robust stability
- nonlinear systems
- robot control
- equilibrium point
- sufficient conditions
- nonlinear dynamics
- dynamical systems
- optimal control
- linear matrix inequality
- stability criterion
- robotic systems
- neural network
- control strategy
- control law
- human subjects
- hopfield neural network
- real time control
- human operators
- control strategies
- human users
- delay dependent