Abstract This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging mainly because of the highly complex bipedal walking dynamics that are hybrid and involve nonlinear, uncontrolled state-triggered jumps. The main contribution of the study is the synthesis of a continuous-phase adaptive robust tracking control law for hybrid models of bipedal robotic walking by incorporating the construction of multiple Lyapunov functions into the control Lyapunov function. The evolution of the Lyapunov function across the state-triggered jumps is explicitly analyzed to construct sufficient conditions that guide the proposed control design for provably guaranteeing the stability and tracking the performance of the hybrid system in the presence of uncertainties. Simulation results on fully actuated bipedal robotic walking validate the effectiveness of the proposed approach in walking stabilization under uncertainties.
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Tracking Control of UAVs with Uncertainty and Input Constraints
This paper considers the position and attitude
tracking control problem of a vertical take-off and landing
unmanned aerial vehicle with uncertainty and input constraints.
Considering the parametric and non-parametric uncertainties
in the dynamics of systems, a robust adaptive tracking controller
is proposed with the aid of the special structure of the
dynamics of the system. Considering the uncertainty and input
constraints, a robust adaptive saturation controller is proposed
with the aid of an auxiliary compensated system. Simulation
results show the effectiveness of the proposed algorithms.
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- Award ID(s):
- 2037649
- PAR ID:
- 10341031
- Date Published:
- Journal Name:
- Proceedings of the American Control Conference
- ISSN:
- 2378-5861
- Page Range / eLocation ID:
- 1182-1187
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
