Title :
Absolute orientation estimation based on high order sliding mode observer for a five link walking biped robot
Author :
Lebastard, V. ; Aoustin, Y. ; Plestan, F. ; Fridman, L.
Author_Institution :
Ecole Centrale de Nantes, Nantes Univ.
Abstract :
An observer to determine the absolute orientation of a 5-link biped robot is designed, in order to avoid the use of a sensor, which is one of the originalities of this paper. As a matter of fact, the measurement of such variable is quite delicate. The observer is based on the high order sliding mode approach, for its features of robustness and finite-time convergence property
Keywords :
legged locomotion; observers; variable structure systems; absolute orientation estimation; finite-time convergence property; five link walking biped robot; high order sliding mode observer; Control systems; Convergence; Estimation error; Legged locomotion; Observers; Robot sensing systems; Robust control; Robustness; Sliding mode control; Uncertainty;
Conference_Titel :
Variable Structure Systems, 2006. VSS'06. International Workshop on
Conference_Location :
Alghero, Sardinia
Print_ISBN :
1-4244-0208-5
DOI :
10.1109/VSS.2006.1644546
