L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs
L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs
复制标题
基于李雅普诺夫函数的二次规划双足机器人 L1 自适应控制
DOI：
10.1109/acc.2015.7170842
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发表时间：
2015
期刊：
影响因子：
--
通讯作者：
K. Sreenath
中科院分区：
文献类型：
--
作者：
Quan Nguyen;K. Sreenath
本文提出了一种方法，应用L1自适应控制的输出调节的欠驱动混合系统的非线性不确定性的存在下，应用于双足步行。参考模型由基于李雅普诺夫函数的二次规划控制器生成，是非线性的。我们评估我们提出的控制设计模型的兔子，五连杆平面双足机器人。其结果是指数稳定的机器人在不同程度的模型不确定性的收敛速度不变。
This paper presents an approach to apply L1 adaptive control for output regulation in the presence of nonlinear uncertainty in underactuated hybrid systems with application to bipedal walking. The reference model is generated by control Lyapunov function based quadratic program (CLFQP) controller and is nonlinear. We evaluate our proposed control design on a model of RABBIT, a five-link planar bipedal robot. The result is the exponential stability of the robot with an unchanged rate of convergence under different levels of model uncertainty.