L1 adaptive control for bipedal robots with control Lyapunov function based quadratic programs.
Quan NguyenKoushil SreenathPublished in: ACC (2015)
Keyphrases
- adaptive control
- lyapunov function
- control method
- nonlinear systems
- control law
- autonomous robots
- feedback control
- closed loop
- control strategy
- control algorithm
- controller design
- control system
- control theory
- mobile robot
- variable structure
- humanoid robot
- quadratic program
- motion planning
- pid controller
- control scheme
- robotic systems
- optimal control
- tracking error
- sufficient conditions
- fuzzy controller
- chaotic systems
- real time
- multi robot
- manufacturing systems
- neural network
- fuzzy control
- dynamic environments