Walk Stabilization Control at DRC Finals

The Conjoint Finals

ACM ICPC World Finals 2017

Disclaimer This is an unofficial analysis of some possible ways to solve the problems of the ACM ICPC World Finals 2017. They are not intended to give a complete solution, but rather to outline some approach that can be used to solve the problem. If some of the terminology or algorithms mentioned below are not familiar to you, your favorite search engine should be able to help. If you find an e...

Global Stabilization of Attitude Dynamics: SDRE-based Control Laws

The State-Dependant Riccati Equation method has been frequently used to design suboptimal controllers applied to nonlinear dynamic systems. Different methods for local stability analysis of SDRE controlled systems of order greater than two such as the attitude dynamics of a general rigid body have been extended in literature; however, it is still difficult to show global stability properties of...

Stabilization and Control

Automized stabilization and control of computer-controlled nonlinear processes is considered. A new algorithm which constitutes a combination of Popov's and of Jury and Lee's stability criteria with a nonlinear programming approach is proposed. The algorithm is applied to a digitally controlled antenna tracking system and the operation is simulated on an IBM 360/91 computer. The solution involv...

Stabilization Through Hybrid Control

This chapter addresses the problem of controlling a dynamical process using a hybrid controller, i.e., a controller that combines continuous dynamics with discrete logic. Typically, the discrete logic is used to effectively switch between several continuous controls laws and is called a supervisor. We review several tools that can be found in the literature to design this type of hybrid control...