(Mechanical and Manufacturing Engineering, University of Manitoba)
Stability Analysis of Nonlinear/Non-smooth Dynamic Systems with Applications to Developing Bipedal Robots
|Date||Tuesday, November 24, 2009|
System stability is one of the basic requirements for many engineering systems. Unstable systems are useless and potentially dangerous. Lyapunov's stability theory is of central importance for stability analysis and stability control for nonlinear systems. However, due to the lack of constructive methods, the applications of such a powerful theory are extremely restricted. One of the objectives of my research program is to develop constructive methods for the Lyapunov's stability analysis. In this talk, I will present some of our research developments, which include the development of methods for deriving Lyapunov functions for nonlinear dynamic systems, Filippov's solution analysis of non-smooth systems, extensions of Lyapunov's stability theory to non-smooth systems and control, stability analysis via the concept of Lyapunov exponents. Finally our current research on passive dynamic walking robots, a typical unstable system, is discussed.