Trajectory tracking disturbance rejection controller for a state constrained biped robot.
Karla RinconAlberto Luviano-JuárezLeticia Santos-CuevasIsaac ChairezPublished in: CoDIT (2017)
Keyphrases
- disturbance rejection
- closed loop
- trajectory tracking
- biped robot
- control system
- control law
- pid controller
- control scheme
- iterative learning
- control strategy
- control algorithm
- feedback control
- dynamic model
- biologically inspired
- bi directional
- nonlinear systems
- state space
- fuzzy controller
- state variables
- optimal control
- inverted pendulum
- physical constraints
- sliding mode