Adiabatic stability under semi-strong interactions: The weakly damped regime

We rigorously derive multi-pulse interaction laws for the semi-strong interactions in a family of singularly-perturbed and weakly-damped reaction-diffusion systems in one space dimension. Most significantly, we show the existence of a manifold of quasi-steady N-pulse solutions and identify a "normal-hyperbolicity" condition which balances the asymptotic weakness of the linear damping against the algebraic evolution rate of the multi-pulses. Our main result is the adiabatic stability of the manifolds subject to this normal hyperbolicity condition. More specifically, the spectrum of the linearization about a fixed N-pulse configuration contains essential spectrum that is asymptotically close to the origin as well as semi-strong eigenvalues which move at leading order as the pulse positions evolve. We characterize the semi-strong eigenvalues in terms of the spectrum of an explicit N by N matrix, and rigorously bound the error between the N-pulse manifold and the evolution of the full system, in a polynomially weighted space, so long as the semi-strong spectrum remains strictly in the left-half complex plane, and the essential spectrum is not too close to the origin

Model Reduction Near Periodic Orbits of Hybrid Dynamical Systems

We show that, near periodic orbits, a class of hybrid models can be reduced to or approximated by smooth continuous-time dynamical systems. Specifically, near an exponentially stable periodic orbit undergoing isolated transitions in a hybrid dynamical system, nearby executions generically contract superexponentially to a constant-dimensional subsystem. Under a non-degeneracy condition on the rank deficiency of the associated Poincare map, the contraction occurs in finite time regardless of the stability properties of the orbit. Hybrid transitions may be removed from the resulting subsystem via a topological quotient that admits a smooth structure to yield an equivalent smooth dynamical system. We demonstrate reduction of a high-dimensional underactuated mechanical model for terrestrial locomotion, assess structural stability of deadbeat controllers for rhythmic locomotion and manipulation, and derive a normal form for the stability basin of a hybrid oscillator. These applications illustrate the utility of our theoretical results for synthesis and analysis of feedback control laws for rhythmic hybrid behavior

Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers

Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-domain hybrid models of quadruped robots with high degrees of freedom, and 2) to systematically design nonlinear controllers that asymptotically stabilize periodic orbits of these sophisticated models. A family of parameterized virtual constraint controllers is proposed for continuous-time domains of quadruped locomotion to regulate holonomic and nonholonomic outputs. The properties of the Poincare return map for the full-order and closed-loop hybrid system are studied to investigate the asymptotic stabilization problem of dynamic gaits. An iterative optimization algorithm involving linear and bilinear matrix inequalities is then employed to choose stabilizing virtual constraint parameters. The paper numerically evaluates the analytical results on a simulation model of an advanced 3D quadruped robot, called GR Vision 60, with 36 state variables and 12 control inputs. An optimal amble gait of the robot is designed utilizing the FROST toolkit. The power of the analytical framework is finally illustrated through designing a set of stabilizing virtual constraint controllers with 180 controller parameters.Comment: American Control Conference 201