Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback - Archive ouverte HAL Access content directly
Journal Articles Autonomous Robots Year : 2016

Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback

Abstract

The primary concern of the work is robust control of hybrid mechanical systems under unilateral constraints with underactuation degree one. Nonlinear H ∞ output feedback synthesis is developed in the hybrid setting, covering collision phenomena. Sufficient conditions are presented to ensure internal asymptotic stability while also attenuating external disturbances and plant uncertainties. The developed synthesis is applied to the orbital stabilization of an underactuated bipedal robot periodically touching the ground. Good performance of the closed-loop system is obtained not only in the presence of measurement noise and external disturbances, affecting the gait of the biped between collision time instants, but also under uncertainties at the velocity restitution when the ground collision occurs. Keywords robust control · unilateral constraints · un-deractuated mechanical systems · orbital stabilization · bipedal robot · walking gait.
Fichier principal
Vignette du fichier
autorob_v2.pdf (704.16 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01306820 , version 1 (25-04-2016)

Identifiers

Cite

Oscar Montano, Yury Orlov, Yannick Aoustin, Christine Chevallereau. Orbital stabilization of an underactuated bipedal gait via nonlinear H ∞ -control using measurement feedback. Autonomous Robots, 2016, ⟨10.1007/s10514-015-9543-z⟩. ⟨hal-01306820⟩
194 View
233 Download

Altmetric

Share

Gmail Facebook X LinkedIn More