Title :
Why multirate sampling is instrumental for control design purpose: the example of the one-leg hopping robot
Author :
Giamberardino, P. Di ; Monaco, S. ; Normand-Cyrot, D.
Author_Institution :
Dipt. di Informatica e Sistemistica, Universita di Roma "La Sapienza", Rome, Italy
Abstract :
The paper discusses why and how multirate sampling can be instrumental for control design purpose when difficult situations are faced in the sense that smooth continuous-time feedback laws solutions do not exist. The discussion is illustrated by the design of a multirate control strategy to reproduce the walking like behavior of a one-leg robot.
Keywords :
control system synthesis; digital control; legged locomotion; robot dynamics; sampled data systems; control design; multirate control strategy; multirate sampling; one-leg hopping robot; walking like behavior; Computational modeling; Control design; Differential equations; Feedback; Instruments; Legged locomotion; Mathematical model; Open loop systems; Robot sensing systems; Sampling methods;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184372
