Robust Control of Biped Robots

This paper demonstrates a strategy for the design and implementation of robust controllers for robots. The design technique is based on constructing an error vector between the robot measurable states and the desired states, then forcing the gradient of this error vector to be negative via the use of a suitable Lyapunov function. The controller is robust in the sense that it accommodates unstructured uncertainties inherent in robotics. Different robots having different degrees of complexities are used to simulate the response of the proposed controller and compare it to existing ones. The simulation is made in a MATLAB environment. A few practical considerations are then addressed to investigate the causality of the proposed controller and its applicability to real-time situations. Conclusion is submitted with a few comments regarding both adaptivity and real-time compatibility of the proposed controller.