Walking dynamics of the passive compass-gait model under OGY-based control: Emergence of bifurcations and chaos

详细信息    查看全文

• 作者：Hassè ; ne Gritli ; ^a ; ^b ; ^{grhass@yahoo.fr} ; Safya Belghith^b
• 关键词：Compass-gait model ; OGY-Based control ; Bifurcations ; Chaos ; Period remerging ; Bubbling
• 刊名：Communications in Nonlinear Science and Numerical Simulation
• 出版年：2017
• 出版时间：June 2017
• 年：2017
• 卷：47
• 期：Complete
• 页码：308-327
• 全文大小：4387 K
• 卷排序：47

文摘

A simplified OGY-based control method of the compass-gait biped model is proposed. We analyze the walking dynamics under control via bifurcation diagrams. We show the emergence of bifurcations and chaos. The period-doubling bifurcation, the cyclic-fold bifurcation, the period remerging, and the period bubbling are exhibited. A comparison between nonlinear phenomena displayed in the impulsive hybrid nonlinear dynamics and the hybrid Poincaré map is achieved.