H_-stabilization of a 3D bipedal locomotion under a unilateral constraint

DOI10.1007/978-3-319-62464-8_15MaRDI QIDQ5377596zbMATH OpenOpenAlexFDO

Authors Óscar Montaño, Yury V. Orlov, Yannick Aoustin, Christine Chevallereau

Publication date 27 May 2019

Published in New Perspectives and Applications of Modern Control Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-319-62464-8_15

zbMATH Keywords

\(\mathcal{H}_{\infty}\)-stabilization

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) (H^infty)-control (93B36) Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Recommendations

• Modeling, stability and control of biped robots --- a general framework
• Models, feedback control, and open problems of 3D bipedal robotic walking
• A control study of a kneeless biped locomotion system
• Stable Dynamic Walking over Rough Terrain
• Adaptive walking control for a biped robot

Cites work

• Advanced \(\mathcal H_\infty\) control. Towards nonsmooth theory and applications
• Connections between finite-gain and asymptotic stability
• Control design for a biped: reference trajectory based on driven angles as functions of the undriven angle
• Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
• Discontinuous systems. Lyapunov analysis and robust synthesis under uncertainty conditions
• Dissipative control systems synthesis with full state feedback
• Dissipative dynamical systems. I: General theory
• Efficient Dynamic Computer Simulation of Robotic Mechanisms
• H/sub ∞/-control of discrete-time nonlinear systems
• Hybrid dynamical systems
• Impulsive and hybrid dynamical systems: stability, dissipativity, and control
• Lyapunov conditions for input-to-state stability of impulsive systems
• Nonlinear \(\mathcal{H}_\infty\)-control under unilateral constraints
• On the control of finite-dimensional mechanical systems with unilateral constraints
• Optimal disturbance rejection control for nonlinear impulsive dynamical systems
• Resolved-acceleration control of mechanical manipulators
• Stability Analysis and Control of Rigid-Body Systems With Impacts and Friction
• Stability properties of reset systems
• The complementarity class of hybrid dynamical systems
• Tracking Control for Hybrid Systems With State-Triggered Jumps

Cited in

(1)

• Robust discrete-time \(H_\infty\) control for unsupported paraplegic standing: experimental results

This page was built for publication: \(\mathcal{H}_{\infty}\)-stabilization of a 3D bipedal locomotion under a unilateral constraint

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5377596)