Tracking control of the orbitally flat kinematic car with a new time-scaling input

2007 ◽  
Author(s):  
Balint Kiss ◽  
Emese Szadeczky-Kardoss
Keyword(s):  
Tracking Control ◽  
Time Scaling ◽  
New Time

A Switching Control Strategy for Energy Efficient Walking on Uneven Surfaces

2015 ◽  
Vol 12 (04) ◽  
pp. 1550015 ◽  
Author(s):  
Zidong Wang ◽  
Gangfeng Yan ◽  
Zhiyun Lin ◽  
Chong Tang ◽  
Sumian Song
Keyword(s):  
Energy Efficient ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Biped Robot ◽  
Transformation Method ◽  
Control Law ◽  
Cost Of Transport ◽  
Time Scaling ◽  
Flat Feet ◽  
Rotation Phase

This paper studies the problem of achieving an energy efficient walking on an uneven surface for a compass-like biped robot with flat feet. To this end, reference walking gaits, which consist of two phases including the static foot phase and the foot rotation phase, are designed on several typical slopes via minimizing the dimensionless specific mechanical cost of transport. Moreover, for other slopes, a simple transformation method is proposed to generate interim reference walking gaits from the reference ones on those typical slopes. Then an input–output feedback linearization approach is considered to design a tracking control law in the static foot phase and a time-scaling approach is adopted to construct a tracking control law in the foot rotation phase as the dynamics in this phase is underactuated. By switching the control law at different phases and switching the reference walking gaits on different slopes, a compass-like robot can achieve energy efficient walking on uneven surfaces. The validity of our method is illustrated by numerical simulations.

Nonlinear Tracking Control of Spacecraft with MPC: LPV Approach

2016 ◽  
Vol 15 (0) ◽  
pp. 133-140
Author(s):  
Atsushi SAKAMOTO ◽  
Yuichi IKEDA ◽  
Isao YAMAGUCHI ◽  
Takashi KIDA
Keyword(s):  
Tracking Control ◽  
Nonlinear Tracking
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