An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker
Joint Authors
Wang, Yu
Cao, Heng
Jiang, JinLin
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-04-07
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
An indicator of a passive biped walker’s global stability is its domain of attraction, which is usually estimated by the simple cell mapping method.
It needs to calculate a large number of cells’ Poincare mapping result in the estimating process.
However, the Poincare mapping is usually computationally expensive and time-consuming due to the complex dynamical equation of the passive biped walker.
How to estimate the domain of attraction efficiently and reliably is a problem to be solved.
Based on the simple cell mapping method, an improved method is proposed to solve it.
The proposed method uses the multiple iteration algorithm to calculate a stable domain of attraction and effectively decreases the total number of Poincare mappings.
Through the simulation of the simplest passive biped walker, the improved method can obtain the same domain of attraction as that calculated using the simple cell mapping method and reduce calculation time significantly.
Furthermore, this improved method not only proposes a way of rapid estimating the domain of attraction, but also provides a feasible tool for selecting the domain of interest and its discretization level.
American Psychological Association (APA)
Wang, Yu& Cao, Heng& Jiang, JinLin. 2019. An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker. Discrete Dynamics in Nature and Society،Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1146313
Modern Language Association (MLA)
Wang, Yu…[et al.]. An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker. Discrete Dynamics in Nature and Society No. 2019 (2019), pp.1-11.
https://search.emarefa.net/detail/BIM-1146313
American Medical Association (AMA)
Wang, Yu& Cao, Heng& Jiang, JinLin. An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker. Discrete Dynamics in Nature and Society. 2019. Vol. 2019, no. 2019, pp.1-11.
https://search.emarefa.net/detail/BIM-1146313
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1146313