Browsing Facultad de Ingeniería Eléctrica by Subject "stability"

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    • Lyapunov Based Stability Analysis for Metro Lines 

      Berbey Álvarez, Aranzazu; Galán, Ramón; Segundo, Pablo San; Sanz Bobi, Juan de Dios (2008-06-30)
      In this work a direct method to measure the stability of metro system lines with respect to a previously constructed time schedule is presented. For this purpose we first model saturation effects using a real time discrete ...

    • Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain 

      Caballero, Rony; Armada, Manuel; Alarcón, Pedro (2006-06-28)
      Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ...

    • Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation 

      Caballero, Rony; Armada, Manuel; Akinfiev, Teodor (2004-06-26)
      In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...