Stance Phase Control System of a Jumping Robot

被引：0
作者：
Ivanescu, Mircea [1 ]
机构：
[1] Univ Craiova, Craiova, Romania
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 17期
关键词：
robotics; control; stability; observer; frequential criterion;
D O I：
10.1016/j.ifacol.2019.11.036
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper treats the control of the jumping robot during the stance phase using the fractal model of the system. Considering an actuation system based on the Electro-Rheologic (ER) fluid controller, a fractal model is inferred. The linearized model and nonlinear models are studied and control frequential laws are proposed using YKP criterions. Observer models are proposed for linear and nonlinear systems and the global stability for "system-observer" is studied by Lyapunov techniques. Numerical simulations are presented. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：111 / 116
页数：6
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