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New Robust Control Method Applied to the Locomotion of a 5-Link Biped Robot

Published online by Cambridge University Press:  15 January 2020

Mohammad Mehdi Kakaei and
Hassan SalariehOpen the ORCID record for Hassan Salarieh[Opens in a new window]
Mohammad Mehdi Kakaei
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran E-mail: mohammadmehdikakaei@gmail.com
Hassan Salarieh*
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran E-mail: mohammadmehdikakaei@gmail.com
*
*Corresponding author. E-mail: salarieh@sharif.ir
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Summary

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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. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.

Keywords

Robust controlStabilityHybrid natureUnderactuatedBiped robotLocomotion

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 11 , November 2020, pp. 2023 - 2038
Copyright
Copyright © Cambridge University Press 2020

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