Title: Development of monitoring algorithm for controlling a biped robot: norm bounded uncertainties system-based
Authors: Imen Dakhli; Elyes Maherzi; Mongi Besbes
Addresses: Robotics Informatics and Complex Systems LR16ES07, National Engineering School of Tunis, University of Tunis El Manar, BP 37, 1002 Belvedere, Tunisia ' National Engineering School of Carthage, University of Carthage, Tunisia, 2035 Chargia, Tunisia ' Higher Institute of Information and Communication Technologies, University of Carthage Tunisia, BP123, 1164 Hammam Chatt, Tunisia
Abstract: It is well known that the biped walking gait is represented as a steady periodic gait. Investigation of such passive natural motion leads to different strategies of control; these strategies require a sharp mathematical model of the walking dynamics. One of the most used models is the Kajita's one. In this paper, we present an algorithm of controller's design used for the stabilisation of biped robot's gait. Using the Kajita's model as a reference, we include a Norm bounded uncertainties to ensure a more realistic numerical model. The modified model allows us to include constraints on both inputs, outputs and states. The synthesis of the dynamic controller relies on the use of predictive control theory (MPC) and the resolution of a convex optimisation problem with linear matrix inequalities (LMIs) at every sampling period. The generated control law allows a real-time walking robot even in rough ground or unknown environment.
Keywords: dynamic controller; predictive control; uncertainties; linear matrix inequality; LMI; biped robot; walking stability.
International Journal of Digital Signals and Smart Systems, 2017 Vol.1 No.2, pp.113 - 128
Received: 11 Nov 2016
Accepted: 05 Feb 2017
Published online: 13 Nov 2017 *