Finite-time disturbance reconstruction and robust fractional-order controller design for hybrid port-Hamiltonian dynamics of biped robots
Y Farid, F Ruggiero - Robotics and Autonomous Systems, 2021 - Elsevier
In this paper, disturbance reconstruction and robust trajectory tracking control of biped
robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of …
robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of …
Robust compound control of dynamic bipedal robots
This paper presents a robust compound control strategy to produce a stable gait in dynamic
bipedal robots under random perturbations. The proposed control strategy consists of two …
bipedal robots under random perturbations. The proposed control strategy consists of two …
Generation of wheel lockup attacks on nonlinear dynamics of vehicle traction
A Mohammadi, H Malik… - 2022 American Control …, 2022 - ieeexplore.ieee.org
There is ample evidence in the automotive cybersecurity literature that the car brake ECUs
can be maliciously reprogrammed. Motivated by such threat, this paper investigates the …
can be maliciously reprogrammed. Motivated by such threat, this paper investigates the …
State observer for linear systems with explicit constraints: Orthogonal decomposition method
In this paper, an orthogonal decomposition-based state observer for systems with explicit
constraints is proposed. State observers have been an integral part of robotic systems …
constraints is proposed. State observers have been an integral part of robotic systems …
On the design of a nonlinear model predictive controller based on enhanced disturbance observer for dynamic walking of biped robots
N Kalamian, MF Niri - 2021 7th International Conference on …, 2021 - ieeexplore.ieee.org
In this paper a nonlinear model predictive control strategy based on enhanced nonlinear
disturbance observer is proposed to control the dynamic walking of biped robots on the …
disturbance observer is proposed to control the dynamic walking of biped robots on the …
Output feedback robust disturbance rejection tracking control design for a bipedal robotic system with articulation constraints
K Rincón-Martínez, A Luviano-Juárez… - Proceedings of the …, 2021 - journals.sagepub.com
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 …
state tracking for the articulations of an experimental biped robot, was the main outcome of …