Pdf Robust Sliding Mode Control Applied To A 5 Link Biped Robot

(PDF) Robust Sliding-mode Control Applied To A 5-link Biped Robot

(PDF) Robust Sliding-mode Control Applied To A 5-link Biped Robot In this paper the application of robust control to a 5 link biped robotic model is investigated through the sliding mode approach, and compared to pure computed torque control. Based on the presented dynamic formulation, we develop a sliding mode controller for biped motion regulation. the stability and the robustness of the controller are investigated. the control scheme is evaluated by computer simulations.

Robust Composite High-Order Super-Twisting Sliding Mode Control Of Robot Manipulators

Robust Composite High-Order Super-Twisting Sliding Mode Control Of Robot Manipulators In this paper, we design a robust control system based on sliding mode control (smc) of 5 link biped robot using the wavelet neural network(wnn), in order to improve the efficiency of position tracking performance of biped locomotion. In this paper the application of robust control to a 5 1ink biped robotic model is investigated through the sliding mode approach, and compared to pure computed torque control. The goals were determined to achieve high speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The aim of this paper is to develop a robust control algorithm for a five link biped robot with one degree of underactuation to climb stairs in a natural manner.

(PDF) Robust Sliding Mode Control For Flexible Joint Robotic Manipulator Via Disturbance Observer

(PDF) Robust Sliding Mode Control For Flexible Joint Robotic Manipulator Via Disturbance Observer The goals were determined to achieve high speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The aim of this paper is to develop a robust control algorithm for a five link biped robot with one degree of underactuation to climb stairs in a natural manner. Based on the presented dynamic formulation, we develop a sliding mode controller for biped motion regulation. the stability and the robustness of the controller are investigated. the. This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called flbs applied to the locomotion of five link biped robot. In this paper theapplication of robust control toa 5 1ink biped robotic model is investigated through he sliding modeapproach, and compared topure computed torque control. Abstract this paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) pd control, the computed torque control, and the sliding mode robust control when applied to a 5 link biped robot model.

(PDF) Robust Sliding Mode Control With Optimal Path Following For Lateral Motion Of Autonomous Bus

(PDF) Robust Sliding Mode Control With Optimal Path Following For Lateral Motion Of Autonomous Bus Based on the presented dynamic formulation, we develop a sliding mode controller for biped motion regulation. the stability and the robustness of the controller are investigated. the. This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called flbs applied to the locomotion of five link biped robot. In this paper theapplication of robust control toa 5 1ink biped robotic model is investigated through he sliding modeapproach, and compared topure computed torque control. Abstract this paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) pd control, the computed torque control, and the sliding mode robust control when applied to a 5 link biped robot model.

(PDF) Robust Sliding Mode Control For Two-Wheel Robot Without Kinematic Equations

(PDF) Robust Sliding Mode Control For Two-Wheel Robot Without Kinematic Equations In this paper theapplication of robust control toa 5 1ink biped robotic model is investigated through he sliding modeapproach, and compared topure computed torque control. Abstract this paper provides a comparative study, through simulation, of the effectiveness of the local (decoupled) pd control, the computed torque control, and the sliding mode robust control when applied to a 5 link biped robot model.

Impact Invariant Control with Applications to Bipedal Locomotion