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Foot Placement Compensator Design for Humanoid Walking Based on Discrete Control Lyapunov Function.
Chengju Liu
Tong Zhang
Changzhu Zhang
Ming Liu
Qijun Chen
Published in:
IEEE Trans. Syst. Man Cybern. Syst. (2021)
Keyphrases
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lyapunov function
controller design
control method
sufficient conditions
optimal control
neural controller
humanoid robot
nonlinear systems
control theory
hopfield neural network
control system
control scheme
control law
neural network
linear programming
control strategy