robust trajectory free model predictive control of biped robots with adaptive gait length

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

Robust Control of Biped Robots

This paper demonstrates a strategy for the design and implementation of robust controllers for robots. The design technique is based on constructing an error vector between the robot measurable states and the desired states, then forcing the gradient of this error vector to be negative via the use of a suitable Lyapunov function. The controller is robust in the sense that it accommodates unstru...

Robust Motion Control of Biped Walking Robots

This paper proposes a robust mathematical approach for motion control. The proposed control technique is applied to a three-degree of freedom Biped walking robot for illustration. The design technique is divided into two major steps; the first one is to establish a robust position control scheme with both guaranteed stability and trajectory tracking capability using a model-reference technique ...

Robust adaptive control of voltage saturated flexible joint robots with experimental evaluations

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...

Adaptive Simplified Model Predictive Control with Tuning Considerations

Model predictive controller is widely used in industrial plants. Uncertainty is one of the critical issues in real systems. In this paper, the direct adaptive Simplified Model Predictive Control (SMPC) is proposed for unknown or time varying plants with uncertainties. By estimating the plant step response in each sample, the controller is designed and the controller coefficients are directly ca...