Disturbance Estimation based Robust Center of Mass Tracking Control of Humanoid Robot

被引：0
|
作者：
Kolhe, Jaywant P. [1 ]
Soumya, S. [2 ]
Talole, S. E. [1 ]
机构：
[1] Res & Dev Estab, Pune 411015, Maharashtra, India
[2] Def Inst Adv Technol, Pune 411025, Maharashtra, India
来源：
IFAC PAPERSONLINE | 2024年 / 57卷
关键词：
robust control; uncertainty and disturbance estimation; UDE; humanoid robot; WALKING PATTERN GENERATION; SYSTEMS; UNCERTAINTY; DESIGN;
D O I：
10.1016/j.ifacol.2024.05.054
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel design based on disturbance estimation and rejection for robust balance and walking control of humanoid robot. A state-feedback control (SFC) law is designed for trajectory tracking of the center of mass (CoM) of a 3 D linear inverted pendulum model (3D-LIPM) of humanoid robot. To achieve robustness i.e. to cantle the effects of disturbance, the control law is augmented with the Uncertainty and Disturbance Estimator (UDE) based estimate of the disturbance. Next, stability of the close loop system is analysed. The effectiveness of the UDE augmented state feedback controller in estimating the disturbances as well as tracking is validated through the simulations.
引用
收藏
页码：315 / 320
页数：6
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