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A trajectory tracking of legged robot using decentralized control with robustness designs
| Content Provider | Semantic Scholar |
|---|---|
| Author | Hwang, Chih-Lyang Chang, Chung-Wen |
| Copyright Year | 2004 |
| Abstract | A microprocessor-based decentralized sliding-mode tracking control was applied to a legged robot with two-degree-of-freedom (DOF). Under no external load, a linear discrete-time (LDT) dynamic model for every link was individually achieved by the recursive least-squares (LS) parameter estimation. An output disturbance caused by the interaction and modeling error deteriorated the system performance. In this situation, a minimax optimization of the weighted sensitivity between the output disturbance and switching surface was obtained to attenuate the effect of the output disturbance. Moreover, a suitable selection of the weighted function could reject the output disturbance of known mode. For further improving the system performance, a switching control was designed. Finally, the experiments for the legged robot with (or without) payload was arranged to evaluate the usefulness of the proposed method. |
| Starting Page | 79 |
| Ending Page | 86 |
| Page Count | 8 |
| File Format | PDF HTM / HTML |
| DOI | 10.23919/acc.2004.1383933 |
| Volume Number | 5 |
| Alternate Webpage(s) | http://www.nt.ntnu.no/users/skoge/prost/proceedings/acc04/Papers/0716_FrA03.4.pdf |
| Alternate Webpage(s) | http://folk.ntnu.no/skoge/prost/proceedings/acc04/Papers/0716_FrA03.4.pdf |
| Alternate Webpage(s) | https://doi.org/10.23919/acc.2004.1383933 |
| Journal | Proceedings of the 2004 American Control Conference |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
