Lyapunov-based Approach to Reactive Step Generation for Push Recovery of Biped Robots via Hybrid Tracking Control of DCM.
Gyunghoon ParkJung Hoon KimJoonhee JoYonghwan OhPublished in: IROS (2020)
Keyphrases
- control law
- tracking control
- nonlinear systems
- autonomous robots
- closed loop
- control scheme
- control system
- adaptive control
- control algorithm
- control strategy
- motion planning
- mobile robot
- lyapunov function
- stability analysis
- optimal control
- multi robot
- dynamical systems
- robotic systems
- adaptive fuzzy
- controller design
- inverted pendulum
- fuzzy model
- tracking error
- degrees of freedom
- fuzzy control
- feedback control
- control method
- linear matrix inequality
- humanoid robot
- adaptive neural
- reinforcement learning