An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker

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ID: 10017
2019
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Ranked #9 of 21 articles by views in discrete dynamics in nature and society

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Abstract
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.
Reference Key
yu2019andiscrete Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Wang, Yu;Cao, Heng;Jiang, JinLin;Wang, Yu;Cao, Heng;Jiang, JinLin;
Journal discrete dynamics in nature and society
Year 2019
DOI
10.1155/2019/2868543
URL
https://www.hindawi.com/journals/ddns/2019/2868543/abs/
Keywords Keywords not found

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