Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs
Optimal Robust Control for Bipedal Robots through Control Lyapunov Function based Quadratic Programs
复制标题
通过基于李雅普诺夫函数的二次规划控制双足机器人的最优鲁棒控制
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
K. Sreenath
中科院分区：
文献类型：
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作者：
Quan Nguyen;K. Sreenath
本文基于最近关于欠驱动混杂系统的快速指数镇定控制Lyapunov函数(RES-CLF)和基于控制Lyapunov函数的二次规划(CLFQP)的工作。本文的主要贡献是开发了一种用于两足步行的欠驱动混杂系统的鲁棒控制技术，该技术能够在模型显著摄动(质量和惯量增加高达200%)的情况下跟踪期望的轨迹。我们以五连杆平面两足机器人兔子为模型，对所提出的控制设计进行了评估。
This paper builds off of recent work on rapidly exponentially stabilizing control Lyapunov functions (RES-CLF) and control Lyapunov function based quadratic programs (CLFQP) for underactuated hybrid systems. The primary contribution of this paper is developing a robust control technique for underactuated hybrid systems with application to bipedal walking, that is able to track desired trajectories with significant model perturbation (mass and inertia increased by up to 200%.) We evaluate our proposed control design on a model of RABBIT, a five-link planar bipedal robot.