Title :
L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs
Author :
Quan Nguyen ; Sreenath, Koushil
Author_Institution :
Depts. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper presents an approach to apply L1 adaptive control for output regulation in the presence of nonlinear uncertainty in underactuated hybrid systems with application to bipedal walking. The reference model is generated by control Lyapunov function based quadratic program (CLFQP) controller and is nonlinear. We evaluate our proposed control design on a model of RABBIT, a five-link planar bipedal robot. The result is the exponential stability of the robot with an unchanged rate of convergence under different levels of model uncertainty.
Keywords :
Lyapunov methods; asymptotic stability; convergence; legged locomotion; nonlinear control systems; quadratic programming; uncertain systems; CLF-QP; L1 adaptive control; RABBIT; bipedal robots; bipedal walking; control Lyapunov function based quadratic program controller; exponential stability; five-link planar bipedal robot; model uncertainty; nonlinear uncertainty; output regulation; unchanged convergence rate; underactuated hybrid systems; Adaptation models; Adaptive control; Legged locomotion; Lyapunov methods; Torque; Uncertainty;
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7170842
