Optimal Fast Entrainment Waveform for Indirectly Controlled Limit Cycle Walker Against External Disturbances
Longchuan Li,Isao Tokuda,Fumihiko Asano,Longchuan Li,Isao Tokuda,Fumihiko Asano
After occasional perturbation, it is crucial to spontaneously control the limit cycle walking so that it quickly returns to its closed orbit in phase space. Otherwise, its stability can not be sufficiently guaranteed if the speed of recovery is slow while successive perturbation is applied. The accumulated deviation may eventually drive the phase outside the basin of attraction, leading to failure...
