Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots.
Yousef FaridFabio RuggieroPublished in: Robotics Auton. Syst. (2021)
Keyphrases
- controller design
- fractional order
- dynamic model
- control system
- control strategy
- dynamical systems
- nonlinear systems
- control scheme
- differential equations
- control law
- control strategies
- mobile robot
- feedback control
- closed loop
- humanoid robot
- pid controller
- computer simulation
- multi robot
- artificial intelligence
- control parameters
- transfer function
- learning algorithm
- artificial neural networks
- tracking error