Disturbance rejection control for bipedal robot walkers
By Jaime Arcos Legarda
Length4h 24m
About this audiobook
This dissertation contributes to the theoretical and experimental foundation of disturbance rejection control in dynamic bipedal robots. Disturbances produced by model uncertainties and external disturbances are studied as lumped signals that can be rejected through feedback control techniques. The disturbance rejection problem is addressed with the design of trajectory tracking controllers working complementary with an adaptive reference trajectory generator. Two trajectory tracking control strategies were developed: (i) a novel model-based active disturbance rejection control and (ii) a robust multivariable generalized proportional integral control. The methodology adopted allows the design of trajectory generators with the ability to produce periodic stable gait patterns and reject disturbances through the use of an adaptive reference trajectory generator. A discrete control action resets the gait trajectory references after the impact produced by the robot's support-leg exchange in order to maintain a zero tracking error in the controlled joints. In addition, an extended hybrid zero dynamics is introduced to examine the periodic stability of the system with the use of a lower-dimensional representation of the full hybrid dynamics with uncertainties. A physical bipedal robot testbed, named as Saurian, was fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategies against external disturbances and model uncertainties that could affect both the swing motion phase and the support-leg exchange.
Audiobook details
GenreBusiness and Economics
Length4 hrs 24 mins
Narrated byListen with 1,000+ voices
FormateBook with Audio
Publish dateDec 31, 2022
LanguageEnglish
Table of contents
1Disturbance rejection control for bipedal robot walkers
2Disturbance rejection control for bipedal robot walkers
3Acknowledgements
42 Model of a Dynamic Bipedal Robot
53 Disturbance Rejection Control for Trajectory Tracking
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64 Disturbance Rejection in Trajectory Generation
74.1.1 Behavioral constraints
84.3 Reset control law for support-leg exchange
95 Numerical Simulations
105.1 Parameters definition .
115.4 Simulation with external disturbances
126 Design of the Testbed (Saurian) and Physical Experiments
136.1 Mechanism design .
146.3 Walking experiments .
157 Concluding Remarks . 7.1 Summary .
16List of figures
17National University of Colombia, Bogotá
18List of figures
19List of tables
20Abbreviations
21Nomenclature
22Chapter 1
231.1 State of the art in control of bipedal robots
241.2 Highlights
251.3 Outline
26Chapter 2
272.1 Single support phase model
282.2 Discrete dynamic model
29˙qs
300 Ds(qs)−1Bs
312 Fh
32˙q+ e F2
332.2 Discrete dynamic model
34I5×5 ∂pe ∂qs
35Model of a Dynamic Bipedal Robot
362.3 Hybrid dynamic model
37T (cid:105)T ∈ Rn | pv
382.3 Hybrid dynamic model
39Chapter 3
403.1.1 Model decomposition
41Bs(qs) :=
42¨qb ¨qN
433.1.2 Partial feedback linearization
443.2 Hybrid zero dynamics with uncertainties (HZDU)
453.2.1 Derivation of HZDU
46˙qs
47(Dn (qs) ˙qs) + ∂V(qs) ∂qN
480 ηξ1
49˙ηξ2 = ∂Θ(qs) ∂qs
50∂ej q ∂qs Dn (qs)
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