Title :
A trajectory tracking of legged robot using decentralized control with robustness designs
Author :
Hwang, Chih-Lyang ; Chang, Chung-Wen
Author_Institution :
Dept. of Mech. Eng., Tatung Univ., Taipei, Taiwan
fDate :
June 30 2004-July 2 2004
Abstract :
A microprocessor-based decentralized sliding-mode tracking control was applied to a legged robot with two-degree-of-freedom (DOF). Under no external load, a linear discrete-time (LDT) dynamic model for every link was individually achieved by the recursive least-squares (LS) parameter estimation. An output disturbance caused by the interaction and modeling error deteriorated the system performance. In this situation, a minimax optimization of the weighted sensitivity between the output disturbance and switching surface was obtained to attenuate the effect of the output disturbance. Moreover, a suitable selection of the weighted function could reject the output disturbance of known mode. For further improving the system performance, a switching control was designed. Finally, the experiments for the legged robot with (or without) payload was arranged to evaluate the usefulness of the proposed method.
Keywords :
control system synthesis; decentralised control; discrete time systems; legged locomotion; linear systems; optimal control; optimisation; position control; recursive estimation; robust control; time-varying systems; decentralized control; legged robot; linear discrete-time dynamic model; minimax optimization; recursive least-squares parameter estimation; robust control; switching control; trajectory tracking;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4