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

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.