The Library
On the design of a nonlinear model predictive controller based on enhanced disturbance observer for dynamic walking of biped robots
Tools
Kalamian, Nasrin and Faraji Niri, Mona (2021) On the design of a nonlinear model predictive controller based on enhanced disturbance observer for dynamic walking of biped robots. In: 7th International Conference on Control, Instrumentation and Automation, Tabriz, Iran, 22-24 Feb 2021. Published in: 2021 7th International Conference on Control, Instrumentation and Automation (ICCIA) ISBN 9781665403504. doi:10.1109/ICCIA52082.2021.9403547
|
PDF
WRAP-On-design-nonlinear-predictive-controller-observer-dynamic-walking-biped-robots-2019.pdf - Accepted Version - Requires a PDF viewer. Download (1238Kb) | Preview |
Official URL: https://doi.org/10.1109/ICCIA52082.2021.9403547
Abstract
In this paper a nonlinear model predictive control strategy based on enhanced nonlinear disturbance observer is proposed to control the dynamic walking of biped robots on the smooth surface considering double support phase, single support phase, and impact. Optimal tracking of reference trajectories via optimal joint torque is established via a nonlinear predictive controller with well-defined cost functions and associated constraints. The implementation of a conventional disturbance observer encounters numerous challenges due to the joint acceleration requirements. The proposed nonlinear disturbance observer here, which only requires the position and angular velocity, helps to estimate the disturbances introduced on the robot and reduce the complications. The simulation results performed on the dynamic walking of a 5-DOF biped robot on flat surface shows the merits of the proposed method in tracking arbitrary trajectories despite the disturbances.
Item Type: | Conference Item (Paper) | ||||||
---|---|---|---|---|---|---|---|
Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
||||||
Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||
Library of Congress Subject Headings (LCSH): | Robots -- Design and construction, Predictive control, Automation, Nonlinear control theory, Autonomous robots, Observers (Control theory), Robotics -- Research | ||||||
Journal or Publication Title: | 2021 7th International Conference on Control, Instrumentation and Automation (ICCIA) | ||||||
Publisher: | IEEE | ||||||
ISBN: | 9781665403504 | ||||||
Official Date: | 16 April 2021 | ||||||
Dates: |
|
||||||
DOI: | 10.1109/ICCIA52082.2021.9403547 | ||||||
Status: | Peer Reviewed | ||||||
Publication Status: | Published | ||||||
Reuse Statement (publisher, data, author rights): | © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | ||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||
Date of first compliant deposit: | 2 December 2021 | ||||||
Date of first compliant Open Access: | 2 December 2021 | ||||||
Conference Paper Type: | Paper | ||||||
Title of Event: | 7th International Conference on Control, Instrumentation and Automation | ||||||
Type of Event: | Conference | ||||||
Location of Event: | Tabriz, Iran | ||||||
Date(s) of Event: | 22-24 Feb 2021 |
Request changes or add full text files to a record
Repository staff actions (login required)
View Item |
Downloads
Downloads per month over past year