Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots.
Yousef FaridFabio RuggieroPublished in: CoRR (2021)
Keyphrases
- controller design
- fractional order
- dynamic model
- dynamical systems
- differential equations
- control system
- humanoid robot
- control strategy
- control scheme
- pid controller
- mobile robot
- feedback control
- control strategies
- nonlinear systems
- control law
- initial conditions
- fuzzy logic controller
- open loop
- tracking error
- multi robot
- robotic systems
- expert systems
- transfer function
- real time
- rule base
- closed loop
- fuzzy sets
- rough sets
- inverted pendulum
- decision making
- learning algorithm