A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot

Edwards Sánchez, Alberto Luviano, Alberto Rosales

Research output: Contribution to journalArticleResearchpeer-review

Abstract

© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correct trajectory to follow, is necessary to track it with the least possible error. This important task is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused on proposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and reject disturbances present in the closed-loop system. We also present the dynamic model of the limb, the designed reference trajectories, control simulations and experimental results.
Original languageAmerican English
Pages (from-to)2786-2795
Number of pages2506
JournalInternational Journal of Control, Automation and Systems
DOIs
StatePublished - 1 Dec 2017

Fingerprint

Trajectories
Robots
Controllers
Closed loop systems
Dynamic models
Robotics
Engineers

Cite this

@article{c75f92a357d54734b3b9ce9ec587518b,
title = "A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot",
abstract = "{\circledC} 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correct trajectory to follow, is necessary to track it with the least possible error. This important task is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused on proposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and reject disturbances present in the closed-loop system. We also present the dynamic model of the limb, the designed reference trajectories, control simulations and experimental results.",
author = "Edwards S{\'a}nchez and Alberto Luviano and Alberto Rosales",
year = "2017",
month = "12",
day = "1",
doi = "10.1007/s12555-015-0387-2",
language = "American English",
pages = "2786--2795",
journal = "International Journal of Control, Automation and Systems",
issn = "1598-6446",
publisher = "Institute of Control, Robotics and Systems",

}

A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot. / Sánchez, Edwards; Luviano, Alberto; Rosales, Alberto.

In: International Journal of Control, Automation and Systems, 01.12.2017, p. 2786-2795.

Research output: Contribution to journalArticleResearchpeer-review

TY - JOUR

T1 - A robust GPI controller for trajectory tracking tasks in the limbs of a walking robot

AU - Sánchez, Edwards

AU - Luviano, Alberto

AU - Rosales, Alberto

PY - 2017/12/1

Y1 - 2017/12/1

N2 - © 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correct trajectory to follow, is necessary to track it with the least possible error. This important task is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused on proposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and reject disturbances present in the closed-loop system. We also present the dynamic model of the limb, the designed reference trajectories, control simulations and experimental results.

AB - © 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. The study and development of walking robots implies solving several problems related with the design, dynamics, gait patterns, control and other topics inherent to their complex mechanism. One of the most important problems is the trajectory tracking tasks made by the degrees of freedom of each limb. Once the path planner has established the correct trajectory to follow, is necessary to track it with the least possible error. This important task is made by a controller, and helps the robot to maintain a stable walking. In this work we have focused on proposing a GPI control law for a limb of a hexapod walking robot, in order to track smooth trajectories and reject disturbances present in the closed-loop system. We also present the dynamic model of the limb, the designed reference trajectories, control simulations and experimental results.

UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85042425859&origin=inward

UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85042425859&origin=inward

U2 - 10.1007/s12555-015-0387-2

DO - 10.1007/s12555-015-0387-2

M3 - Article

SP - 2786

EP - 2795

JO - International Journal of Control, Automation and Systems

JF - International Journal of Control, Automation and Systems

SN - 1598-6446

ER -