NDLI: Pareto design of sliding-mode tracking control of a biped robot with aid of an innovative particle swarm optimization

Content Provider	IEEE Xplore Digital Library
Author	Alitavoli, M. Taherkhorsandi, M. Mahmoodabadi, M.J. Bagheri, A. Miripour-Fard, B.
Copyright Year	2012
Description	Author affiliation: Dep. of Mechanical, Engineering, Faculty of Engineering, The University of Guilan, Rasht, Iran (Bagheri, A.; Miripour-Fard, B.) \|\| Dep. of Mechanical, Engineering, Faculty, of Engineering, The University of Guilan, Rasht, Iran (Taherkhorsandi, M.) \|\| Dep. of Mechanical Engineering, Faculty of Engineering, The University of Guilan, Rasht, Iran (Mahmoodabadi, M.J.) \|\| Islamic Azad University, Bandar Anzali Branch, Dep. of Mechanical Engineering, Bandar Anzali, Iran (Alitavoli, M.)
Abstract	Lately, many researchers have focused on the walking of biped robots in the sagittal plane. In one hand, biped robots require the capability to step merely laterally, in confronting the obstacles such as a wall. On the other hand, the dynamic equations of biped robots in the lateral plane are extremely nonlinear and heavy to control. Therefore, this paper presents a nonlinear sliding-mode tracking control for the biped robots that step purely in the lateral plane on slope. Both single support phase and double support phase have been negotiated to take the Zero Moment Point (ZMP) on inside of the support polygon. When the sliding-mode control is utilized to track the desired trajectories of the joints, there has to be a trade-off between tracking errors and control effort. Hence, an innovative particle swarm optimization algorithm is used to obtain the Pareto front of these non-commensurable objective functions to determine the sliding-mode parameters. The result dramatizes the superiority of innovative particle swarm optimization in terms of designing the control parameters.
Starting Page	1
Ending Page	5
File Size	254483
Page Count	5
File Format	PDF
ISBN	9781467314466
e-ISBN	9781467314480
DOI	10.1109/INISTA.2012.6246979
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-02
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Sliding-mode Tracking Control Zero Moment Point Biped Robot Particle swarm optimization Sliding mode control Convergence Slope Multi-objective Optimization Trajectory Mathematical model Lateral Stepping Particle Swarm Optimization
Content Type	Text
Resource Type	Article

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