TY - JOUR
T1 - Terminal Sliding-Mode Control of Virtual Humanoid Robot with Joint Restrictions Walking on stepping objects
AU - Sanchez-Magos, M.
AU - Ballesteros, M.
AU - Cruz-Ortiz, D.
AU - Salgado, I.
AU - Chairez, I.
N1 - Publisher Copyright:
© 2020, © 2020 Taylor & Francis Group, LLC.
PY - 2020/5/18
Y1 - 2020/5/18
N2 - This manuscript deals with the problem of controlling a virtualized humanoid robot with 16 degrees of freedom (DOF). The aim of this study was to design an output feedback discontinuous controller which must resolve the sequence of articulation movements to walk over disjoint stepping objects placed in front of the humanoid robot. The suggested controller considers the state restrictions, via a nonstandard strong Lyapunov function, corresponding to the angular displacements and velocities at each articulation. This study implements an extended state terminal second order sliding mode controller with time dependent gains, to ensure the finite-time tracking trajectory of each articulation of the humanoid robot. The terminal sliding mode (TSM) is implemented in a virtual platform developed in a computer-aided design software. For comparison purposes, the controller was compared with a state feedback and a first order sliding mode algorithms.
AB - This manuscript deals with the problem of controlling a virtualized humanoid robot with 16 degrees of freedom (DOF). The aim of this study was to design an output feedback discontinuous controller which must resolve the sequence of articulation movements to walk over disjoint stepping objects placed in front of the humanoid robot. The suggested controller considers the state restrictions, via a nonstandard strong Lyapunov function, corresponding to the angular displacements and velocities at each articulation. This study implements an extended state terminal second order sliding mode controller with time dependent gains, to ensure the finite-time tracking trajectory of each articulation of the humanoid robot. The terminal sliding mode (TSM) is implemented in a virtual platform developed in a computer-aided design software. For comparison purposes, the controller was compared with a state feedback and a first order sliding mode algorithms.
KW - Humanoid robot
KW - output based controller
KW - terminal sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85085032678&partnerID=8YFLogxK
U2 - 10.1080/01969722.2020.1758462
DO - 10.1080/01969722.2020.1758462
M3 - Artículo
SN - 0196-9722
VL - 51
SP - 402
EP - 425
JO - Cybernetics and Systems
JF - Cybernetics and Systems
IS - 4
ER -