Decentralized Event-Based Controllers for Robust Stabilization of Hybrid Periodic Orbits: Application to Underactuated 3-D Bipedal Walking

DOI10.1109/TAC.2018.2863184MaRDI QIDQ5223734zbMATH OpenOpenAlexWikidataFDO

Authors Kaveh Akbari Hamed, Robert D. Gregg IV

Publication date 18 July 2019

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.2018.2863184

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Decentralized systems (93A14) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Cited in

(1)

• Robust adaptive control Lyapunov‐barrier function for non‐collocated control and safety of underactuated robotic systems

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