Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs.
Kevin S. GallowayKoushil SreenathAaron D. AmesJessy W. GrizzlePublished in: IEEE Access (2015)
Keyphrases
- lyapunov function
- control method
- optimal control
- control law
- control algorithm
- control strategy
- sufficient conditions
- autonomous robots
- control system
- adaptive control
- neural network
- nonlinear systems
- robotic systems
- quadratic program
- humanoid robot
- closed loop
- control scheme
- hopfield neural network
- real time
- mobile robot
- dynamic model
- fuzzy controller
- fuzzy control
- pid controller
- pattern classification
- control parameters
- np hard