Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode Observer.
Juan D. GambaAntonio C. LeiteRoy FeatherstonePublished in: HUMANOIDS (2021)
Keyphrases
- high order
- sliding mode
- control strategy
- higher order
- legged robots
- stability analysis
- sliding mode control
- variable structure
- pairwise
- robot manipulators
- control scheme
- control method
- control law
- control system
- dynamic model
- optimal control
- adaptive control
- genetic algorithm
- dynamic environments
- fuzzy neural network
- control algorithm
- partial differential equations
- control theory
- evolutionary computation
- markov random field
- mobile robot
- image processing