Title :
Nonlinear robust control of legged robot Emu
Author :
Osuka, Koichi ; Sato, Hiroshi ; Ono, Toshiro
Author_Institution :
Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
Abstract :
This paper presents a new controller design method for a legged robot `Emu´ with a certain modeling errors. In this paper, using the exact linearization technique and a solution of a special type of Hamilton Jacobi inequality, a nonlinear robust control law is designed to make Emu keep standing. Through some experiments, we show the effectiveness of our control scheme
Keywords :
control system synthesis; legged locomotion; linearisation techniques; motion control; nonlinear control systems; robust control; state feedback; Hamilton Jacobi inequality; legged robot; linearization; modeling errors; motion control; nonlinear control systems; robust control; stability; state feedback; Control systems; Design methodology; Equations; Error correction; Jacobian matrices; Legged locomotion; Linearization techniques; Mechanical systems; Robust control; Systems engineering and theory;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.652427
