ADAPTIVE RECURRENT CEREBELLAR ERROR OBSERVER FOR ROBUST DYNAMIC BIPED WALKING

Helin Wang,∗ Qijun Chen,∗ and Hao Zhang∗

References

  1. [1] X. Chen, Z. Yu, et al., Bioinspired control of walking with toe-off, heel-strike, and disturbance rejection for a biped robot, IEEE Transactions on Industrial Electronics, 64(10), 2017, 7962–7971.
  2. [2] A. Zhu and S.X. Yang, An improved approach to dynamic task assignment of non-holonomic multi-robots, International Journal of Robotics and Automation, 26(4), 2011, 362–368.
  3. [3] H. Yan, H. Zhang, et al., Event-triggered asynchronous guaranteed cost control for Markov jump discrete-time neural networks with distributed delay and channel fading, IEEE Transactions on Neural Networks and Learning Systems, 29(8), 2017, 3588–3598.
  4. [4] Y. Zhao, B.R. Fernández, and L. Sent´ıs, Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model, The International Journal of Robotics Research, 2017, 36(11).
  5. [5] S. Kuindersma, R. Deits, et al., Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot, Autonomous Robots, 40, 2016, 429–455.
  6. [6] T. Wang, C. Christine, and T. David, Stable walking control of a 3D biped robot with foot rotation, Robotica, 32(4), 2014, 551–570.
  7. [7] H.A. Yanco, A. Norton, W. Ober, et al., Analysis of humanrobot interaction at the DARPA robotics challenge trials, Journal of Field Robotics, 32(3), 2015, 420–444.
  8. [8] Y. Wang, Y. Tuo, S.X. Yang, et al., Nonlinear model predictive control of dynamic positioning of deepsea ships with a unified model, International Journal of Robotics and Automation, 31(6), 519–529, 2016. https://doi.org/10.2316/Journal.206.2016.6.206-4764.
  9. [9] T. Kai and T.S. Shintani, A discrete mechanics approach to gait generation on periodically unlevel grounds for the compasstype biped robot, International Journal of Advanced Research in Artificial Intelligence, 2(9), 2013, 43–51.
  10. [10] S. Veer, M.S. Motahar, and I. Poulakakis, On the adaptation of dynamic walking to persistent external forcing using hybrid zero dynamics control, IEEE/RSJ International Conference on Intelligent Robots and Systems (Hamburg, Germany), 2015, 997–1003.
  11. [11] L. Wang, Y. Ge, M. Chen, and Y. Fan, Dynamical balance optimization and control of biped robots in double-support phase under perturbing external forces, Neural Computing and Applications, 28, 2017, 4123–4137.
  12. [12] K.A. Hamed, B.G. Buss, and J.W. Grizzle, Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations, International Journal of Robotics Research, 35(8), 2015, 977–999.
  13. [13] Y.C. Chang and H.M. Yen, Robust tracking control for a class of electrically driven flexible joint robots without velocity measurements, International Journal of Control, 85(2), 2012, 194–212.
  14. [14] A. Levant and L. Levantovsky, Sliding order and sliding accuracy in sliding mode control, International Journal of Control, 58, 2003, 1247–1263.
  15. [15] H. Yan, X. Zhou, et al., A novel sliding mode estimation for microgrid control with communication time delays, IEEE Transactions on Smart Grid, 10(2), 2019, 1509–1520.
  16. [16] J.J. Slotine, J.K. Hedrick, and E.A. Misawa, Nonlinear state estimation using sliding observers, Proceedings of the IEEE Conference on Decision and Control (CDC) (Athens, Greece), 1987, 332–339.
  17. [17] X. Yu, W. He, H. Li, and J. Sun, Adaptive fuzzy full-state and output feedback control for uncertain robots with output constraint, IEEE Transactions on Systems, Man, and Cybernetics: Systems, in press, 2020. DOI: 10.1109/TSMC.2019. 2963072.
  18. [18] H.M. Yen, T. Li, Y.C. Chang, Adaptive neural network based tracking control for electrically driven flexible-joint robots without velocity measurements, Computers and Mathematics with Applications, 64(5), 2012, 1022–1032.
  19. [19] J.S. Albus, A new approach to manipuiator control: The cerebellar model articulation controller (CMAC), Journal of Dynamic Systems, Measurement and Control, 9(73), 1975, 220–227.
  20. [20] F. Abdollahi, H.A. Talebi, and R.V. Patel, A stable neural network-based observer with application to flexible-joint manipulators, IEEE Transactions on Neural Networks, 17(1), 2006, 118–129.
  21. [21] H. Zhang, Z. Wang, H. Yan, et al., Adaptive event-triggered transmission scheme and H∞ filtering co-design over a filtering network with switching topology, IEEE Transactions on Cybernetics, 10, 2018, 1–12.
  22. [22] W. He, C. Xue, X. Yu, et al., Admittance-based controller design for physical human-robot interaction in the constrained task space, IEEE Transactions on Automation Science and Engineering, 17(4), 2020, 1937–1949.
  23. [23] W. He, C. Xue, X. Yu, et al., Reinforcement learning control of a flexible two-link manipulator: An experimental investigation, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 51(12), 2021, 7326–7336.

Important Links:

Go Back