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
N1 - Publisher Copyright:
© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.
PY - 2017/12/1
Y1 - 2017/12/1
N2 - 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 - 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.
KW - Disturbance rejection
KW - GPI control
KW - robot control
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85042425859&partnerID=8YFLogxK
U2 - 10.1007/s12555-015-0387-2
DO - 10.1007/s12555-015-0387-2
M3 - Artículo
SN - 1598-6446
VL - 15
SP - 2786
EP - 2795
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 6
ER -