Abstract

In this paper, a novel adaptive time delay control (ATDC)scheme is proposed to achieve good tracking performance for the biped robots. By utilizing a high-dimensional integral Lyapunov function, the time-delay estimation (TDE) technique is introduced to compensate for the model uncertainties, and a new adaptive robust control is integrated to compensate for the nonlinearities and the TDE error. The adaptive law of this adaptive control would regulate the switching gain automatically according to the change of the error trajectories, increasing or decreasing without any threshold value, respectively. The semi-globally uniformly ultimately bound of the closed-loop control system has been theoretically established and guaranteed. Simulation studies on a biped robot using the proposed control scheme have also verified the effectiveness of the approach.

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