Robust trajectory tracking control of biped robot

摘要：

According to the robots dynamic performance and robust control theory, the Robonova-1 robot dynamic model can be established by Lagrange method. As to the trajectory tracking control problems in robotic systems, a trajectory tracking controller was designed, which was built through the lemma of bounded terminal value with the uncertainties of the actual systems considered. The simulation results show that the robust control method of model uncertainty or external disturbance on the impact of the robot system has a certain inhibitory effect, so the biped robots control is effective.

关键词： biped robot uncertainty lagrange dynamics robust trajectory tracking control

作者: Zhang Wen Heng Qing-hai

作者单位: School of Automation Beijing Information Science and Technology University Beijing, China

会议类型: 国际会议

会议名称: 2010 4th International Conference on Intelligent Information Techonlogy Application(第四届智能信息技术应用国际学术研讨会 IITA 2010)

会议地点: 秦皇岛

会议语种:英文

页码: 332-335

在线出版日期: 2010-11-05（万方平台首次上网日期，不代表论文的发表时间）