Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs
Kevin S. GallowayKoushil SreenathAaron D. AmesJessy W. GrizzlePublished in: CoRR (2013)
Keyphrases
- lyapunov function
- control method
- optimal control
- control algorithm
- control strategy
- sufficient conditions
- nonlinear systems
- control law
- autonomous robots
- robotic systems
- neural network
- humanoid robot
- closed loop
- control system
- adaptive control
- quadratic program
- hopfield neural network
- real time
- approximation algorithms
- dynamic model
- control scheme
- fuzzy control
- pid controller
- mobile robot
- reinforcement learning
- stability analysis
- linear matrix inequality