Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion
نویسندگان
چکیده
منابع مشابه
A passivity-based decentralized strategy for generalized connectivity maintenance
The design of decentralized controllers coping with the typical constraints on the inter-robot sensing/communication capabilities represents a promising direction in multi-robot research thanks to the inherent scalability and fault tolerance of these approaches. In these cases, connectivity of the underlying interaction graph plays a fundamental role: it represents a necessary condition for all...
متن کاملPassivity-Based Decentralized Failure-Tolerant Control
This paper provides a new approach to decentralized failure-tolerant control using passivitybased stability conditions. A controller design method is developed to achieve both decentralized unconditional stability (a transformed passivity condition) and user-specified H2 performance. The control synthesis problem is solved by using successive semidefinite programming. The proposed method is ill...
متن کاملPassivity Based Control of the Compass Gait Biped
In this paper we discuss the passivity based control of the two-link robot known as the Compass Gait Biped. Starting from a narrow region of initial conditions, the compass gait biped is capable of locomotion down shallow inclines without actuation or feedback control of any kind. We will discuss some feedback control strategies that can exploit these passive dynamics by shaping the energy of t...
متن کاملSensorimotor Control of Biped Locomotion
Human locomotion is extremely adaptive and robust to changes in environment, body size, and morphology. The control of this highly adaptive system is thought to be performed by central pattern generators , supported by a system of sensorimotor connections called reflexes. Several studies on central pattern generators have been conducted, alone and in concert with reflexes. However, controllers ...
متن کاملAdaptive Observer-Based Decentralized Scheme for Robust Nonlinear Power Flow Control Using HPFC
This paper investigates the robust decentralized nonlinear control of power flow in a power system using a new configuration of UPFC. This structure comprises two shunt converters and one series capacitor called as hybrid power flow controller (HPFC). A controller is designed via control Lyapunov function (CLF) and adaptive observer to surmount the problems of stability such as tracking desired...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Dynamic Systems, Measurement, and Control
سال: 2019
ISSN: 0022-0434,1528-9028
DOI: 10.1115/1.4043801