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《Journal of Shanghai Jiaotong University》 1991-01
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Stability Analysis of a Quadrupled Walking Robot Servo System

Pan Junmin Wu Liwei Wang Qiong Cheng Junshi  
The quadrupled walking robot servo system that is realized withanalog circuits usually has to work in a saturated region at a certain timeto ensure the walking robot to move at a higher speed.In this paper thesaturated region of the servo system are analyzed via Liapunov's secondmethod and a new Liapunov function is proposed.As a result the correctnessof the structure and the parameters of the servo system and the stablilityin-the-large of the servo system are proved theoretically.
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【References】
Chinese Journal Full-text Database 3 Hits
1 Cheng Junshi;PanJunmin;Wang Qiong;Wu Liwei;Study of Walking Control Algorithm for Quadruped Rohot[J];Journal of Shanghai Jiaotong University;1991-06
2 Dong Huaxia(Department of Information and Control Engineering,Shanghai Jiaotong University)Liu Fang(Computer Institute,Beijing University);Study on the Slant-Degree Sensor for a Quadruped Walking Robot[J];JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY;1996-12
3 Pan Junmin Zhao Yufang (Department of Information and Control Engineering);Application of Neuron in Servo Control of a Quadruped Robot[J];JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY;1997-03
【Citations】
Chinese Journal Full-text Database 1 Hits
1 WANG GUANG-XIONG (Haerbin Institute of Technology);STABILITY IN-THE-LARGE OF A HIGH PRECISION SERVO SYSTEM[J];Acta Automatica Sinica;1979-03
【Co-citations】
Chinese Journal Full-text Database 4 Hits
1 Hu Hengzhang;Yu Lei;Liu Shengcai(Harbin Institute of Technology);The Intelligent Control of Rapid Accurate Positioning System for Three Axis Turntable[J];MISSILES AND SPACE VEHICLES;1994-06
2 Li Qiuming;Zhang Yufei;Feng Rupeng (Inertial Navigation Test Equipment Research Center);Study on Digital Design of Turn Table Control System[J];JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY;1998-04
3 Liu Zhiyuan; Pei Run; Zhang Qian (Dept.of Control Engineering);The Real-time Control System Design of Precise Contrifuge[J];JOURNAL OF HARBIN INSTITUTE OF TECHNOLOGY;1994-02
4 Yu Lei Li Qiuming Hu Hengzhang Liu Shengcai (Harbin Institute of Technology·150001);THE MULTISTAGE EXPERT CONTROL OF HIGH PRECISION SERVO SYSTEM BASED ON FUZZY DECISION[J];JOURNAL OF ASTRONAUTICS;1996-01
【Co-references】
Chinese Journal Full-text Database 1 Hits
1 Ma Peisun; Ma Lie;A Study of Turning Gait Control for Quadruped Walking Vehicle[J];JOURNAL OF SHANGHAI JIAOTONG UNIVERSITY;1995-05
【Secondary References】
Chinese Journal Full-text Database 3 Hits
1 LU Wenke, ZHU Changchun, LIU Junhua, LU Jianqiu (Institute of Vaccum Microelectronics & Microelectromechanical System, School of Electronics and Information Engineering, Xi'an Jiaotong University, Xian 710049, China);Study on Wavelet Transformation Type of the Digital Slope Meter[J];Journal of Test and Measurement Technology;2003-03
2 Shen Jiahuan (Wuhan Digital Engineering Institute,Wuhan 430074);A Research of the Mobile Pilot Neural Networks (PNN) for Intelligent Underwater Vehicle[J];Computer & Digital Engineering;1999-01
3 Qi Wenpu (Dept of instrument engineering,Xian institute of technology,710032);The horizontal level space angle measuring system[J];JOURNAL OF XI'AN INSTITUTE OF TECHNOLOGY;1997-02
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