Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts.
Sophie ChareyronPierre-Brice WieberPublished in: CLAWAR (2005)
Keyphrases
- stability analysis
- nonlinear systems
- control law
- autonomous robots
- fault tolerant control
- sliding mode
- closed loop
- control algorithm
- adaptive control
- control system
- humanoid robot
- control scheme
- motion planning
- controller design
- reference trajectory
- stability margin
- control theory
- adaptive neural
- optimal control
- adaptive fuzzy
- lyapunov function
- real robot
- mobile robot
- control strategy
- dynamical systems
- multi robot
- fuzzy control
- trajectory tracking
- variable structure
- multi modal
- fuzzy systems
- fuzzy controller
- fuzzy model
- search space
- computational intelligence
- experimental data
- evolutionary computation
- machine learning
- robotic systems