Sliding Control Without Reaching Phase and Its Application to Bipedal Locomotion

DOI10.1115/1.2899122MaRDI QIDQ4282335zbMATH OpenOpenAlexFDO

Authors Tai-Heng Chang, Yildirim Hurmuzlu

Publication date 24 March 1994

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://semanticscholar.org/paper/667cc4d9f8bebaec988eceeb37d7b13fdd7fd550

Mathematics Subject Classification ID

Variable structure systems (93B12)

Cited in

(11)

• Design of a global discrete-time sliding mode control scheme for a class of nonlinear systems with state delays and uncertainties
• An exponentially convergent adaptive sliding mode control of robot manipulators
• A classification and overview of sliding mode controller sliding surface design methods
• Operating robot manipulators through kinematic singularities using a continuously sliding mode control
• Author's reply to Dr. Phadke's comments
• A fast terminal sliding mode control scheme with time-varying sliding mode surfaces
• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Dynamic bipedal walking under stick-slip transitions
• Modeling, stability and control of biped robots --- a general framework
• Nonlinear dynamics and control of an inertially actuated jumper robot
• A new control method for second-order multiple models control system based on global sliding mode

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