Step-by-step sliding mode observer for control of a walking biped robot by using only actuated variables measurement.
Vincent LebastardYannick AoustinFranck PlestanPublished in: IROS (2005)
Keyphrases
- biped robot
- control strategy
- sliding mode
- control law
- control scheme
- variable structure
- sliding mode control
- control method
- inverted pendulum
- control system
- optimal control
- control algorithm
- mathematical model
- nonlinear systems
- trajectory tracking
- adaptive control
- control theory
- biologically inspired
- fuzzy controller
- closed loop
- stability analysis
- robot manipulators
- sliding surface
- fuzzy control
- simulation study
- artificial intelligence