文献类型：期刊文献

英文题名：An Improved Method for Estimating the Domain of Attraction of Passive Biped Walker

作者：Wang, Yu[1];Cao, Heng[1];Jiang, JinLin[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China

年份：2019

卷号：2019

外文期刊名：DISCRETE DYNAMICS IN NATURE AND SOCIETY

收录：;WOS:【SCI-EXPANDED(收录号:WOS:000465256100001)】；

基金：This research is supported by the National Natural Science Foundation of China [91748110].

语种：英文

摘要：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.