Output feedback robust disturbance rejection tracking control design for a bipedal robotic system with articulation constraints

Karla Rincón-Martínez, Alberto Luviano-Juárez, Clara L. Santos-Cuevas, Isaac Chairez

Research output: Contribution to journalArticlepeer-review


The design of an output-based robust disturbance rejection controller, aimed to solve the state tracking for the articulations of an experimental biped robot, was the main outcome of this study. The robust disturbance rejection controller included an auxiliary hybrid observer entailed to recover the angular velocity for each articulation. The estimated states served to perform the approximation of disturbances and non-modeled parts in the biped robot dynamics by implementing an extended state observer structure. The observer used the tracking position errors as input information, as well as considering the limb articular constraints, which are natural for biologically inspired biped robots. The effect of state constraints motivated the implementation of a hybrid observer with saturated output error injection. The controller design used the estimation of constraint velocity for solving the design of a tracking trajectory control to resolve the reproduction of the gait cycle by the bipedal robotic system. The Lyapunov stability theory served to obtain the laws which adjust the observer gains as well as to prove the ultimate boundedness of the tracking error as well. The evaluation of the suggested controller was realized on a numerical representation of the biped robot. These simulations illustrated the tracking performance of the hybrid robust disturbance rejection controller for all biped robot articulations in a decentralized structure. Experimental evaluations were also considered to validate the robust disturbance rejection controller design. A fully actuated biped robot was constructed and controlled by the robust disturbance rejection controller. The tracking results obtained by the robust disturbance rejection controller (in both the numerical and experimental evaluations) overcame the classical approach performances of diverse controllers as state feedback (proportional-derivative form) and regular robust disturbance rejection controller which did not consider the articulation constraints.

Original languageEnglish
Pages (from-to)992-1007
Number of pages16
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number6
StatePublished - Jul 2021


  • disturbance rejection control
  • hybrid observer
  • output-based controller
  • Robust control
  • state constraints


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