Title :
Comparative study of adaptive controllers for a pneumatic driven leg
Author :
Guihard, Marina ; Fontaine, Jean-Guy ; M´sirdi, N.K.
Author_Institution :
LRP, Velizy Villacoublay, France
Abstract :
Makes a comparative study between two adaptive control strategies applied to a leg of a quadruped. This leg is composed of two rigid links with pneumatic actuators driving rotational joints. In order to enable nonlinear control approaches, a model of this system is built. The control design is based on one hand on MRAS and on the other hand on passive system theory which ensure the asymptotic stability of the whole. Adaptation laws are proposed, grounded either on the number of operations keeping in mind real time implementation facilities, or on the robustness toward disturbances. These control laws are compared using simulation results
Keywords :
actuators; asymptotic stability; legged locomotion; model reference adaptive control systems; pneumatic control equipment; MRAS; adaptation laws; adaptive controllers; asymptotic stability; nonlinear control approaches; passive system theor; pneumatic actuators; pneumatic driven leg; quadruped; rigid links; robustness; rotational joints; Adaptive control; Asymptotic stability; Leg; Legged locomotion; Mathematical model; Pistons; Pneumatic actuators; Programmable control; Robust control; Torque;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407467
