Gait tracking control of quadruped robot using differential evolution based structure specified mixed sensitivity H_ robust control

DOI10.1155/2016/8760215MaRDI QIDQ328412zbMATH OpenOpenAlexWikidataFDO

Authors Petrus Sutyasadi, Manukid Parnichkun

Publication date 20 October 2016

Published in Journal of Control Science and Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2016/8760215

zbMATH Keywords

\(H_{\infty}\) robust controlquadruped robotsignificant perturbation

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• scientific article; zbMATH DE number 1944876
• Dynamic modeling in the simulation, optimization, and control of bipedal and quadrupedal robots
• Simultaneous design of optimal gait pattern and controller for a bipedal robot

Cites work

• An approach to nonlinear feedback control with applications to robotics
• Global transformations of nonlinear systems
• scientific article; zbMATH DE number 194581 (Why is no real title available?)
• scientific article; zbMATH DE number 829791 (Why is no real title available?)
• Legged robots
• Quadrupedal locomotion. An introduction to the control of four-legged robots.
• Robust Control of Robots

Cited in

(14)

• Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method
• Optimization of stability of humanoid robot NAO using ant colony optimization tuned MPC controller for uneven path
• Hybrid disturbance rejection control of dynamic bipedal robots
• Optimal impedance control based on body inertia for a hydraulically driven hexapod robot walking on uneven and extremely soft terrain
• Robust adaptive dynamic surface control for hydraulic quadruped robot hip joint
• Joint space compliance control for a hydraulic quadruped robot based on force feedback
• CPG-based control scheme for quadruped robot to withstand the lateral impact
• Editorial: Partial differential equations and function spaces
• Real Time Computer Control of a Quadruped Walking Robot
• Observer-based robust adaptive force-position controller design for quadruped robots with actuator faults
• Motion control of a redundant hydraulic actuated quadruped robot based on extended Jacobian matrix
• Trajectory tracking of multi-legged robot based on model predictive and sliding mode control
• An approach to stable walking over uneven terrain using a reflex-based adaptive gait
• Trotting control of load-carrying quadruped walking vehicle with load variations based on the centroidal dynamics and adaptive sliding mode control

Describes a project that uses

Uses Software

• Matlab
• Differential Evolution

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