Finite time tracking of a fully actuated biped robot with pre-specified settling time: A second order sliding mode synthesis.
Harshal B. OzaYury OrlovSarah K. SpurgeonYannick AoustinChristine ChevallereauPublished in: ICRA (2014)
Keyphrases
- sliding mode
- biped robot
- control strategy
- trajectory tracking
- control law
- control scheme
- closed loop
- variable structure
- control system
- stability analysis
- sliding mode control
- control algorithm
- real time
- robot manipulators
- control theory
- optimal control
- control method
- dynamic model
- neural network
- mathematical model
- particle filter
- nonlinear systems
- motion planning