Abstract
the analysis and control of delayed systems are becoming more and more research topics in progress. This is mainly due to the fact that the delay is frequently encountered in technological systems. Most control command laws are based on current digital computers and delays are intrinsic to the process or in the control loop caused by the transmission time control sequences, or computing time. In other hand, the controls of humanoid walking robot present a common problem in robotics because it involves physical interaction between an articulated system and its environment. This close relationship is actually a common set of fundamental problems such as the implementation of robust stable dynamic control. This paper presents acomplete approach, based on switched system theory, for the stabilization of a compass gait robot subject to time delays transmission. The multiple feedback gains designed are based on multiple linear systems governed by a switching control law. The establishment of control law in real time is affected by the unknown pounded random delay. The results obtained from this method show that the control law stabilize the compass robot walk despite a varying delay reaching six times sampling period.
Highlights
Research on mobile robots during the last three decades has a huge progress
The biped robots are a relevant class of mobile robots due to their adaptability to various floors grounds and movement in rough environments
We study more the linear system stability when the pair applied by actuators, switches between the hip, the ankle, or the pair ankle - hip at the same time
Summary
Research on mobile robots during the last three decades has a huge progress. The biped robots are a relevant class of mobile robots due to their adaptability to various floors grounds and movement in rough environments. The second one is unknown and depending on the delay value, which is bounded and integer (multiple of the sampling time).The feedback control synthesis approach is considered as a problem of robust control and leads us to aset of non-linear matrix inequalities conditions. To overcome this difficulty, we propose original relaxations stabilizing the robot running despite the delays and the non-linearity’s. In the last part we show the results of the method applied to the obtained model
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