Comparative Study of Three Nonlinear Discrete-Time Observer Designs for the Control of a Bipedal Robot

verfasst von

A. Albert, T. Lilge

Abstract

This paper focuses on adaptive, non-linear control for a bipedal robot. The envisaged control structure consists of discrete-time Computed Torque Controllers and Extended Kalman Filters for parameter adaptation. Since the relative degree of the considered joint system models are equal to the system order, the Computed Torque Control requires future values of the output. For this task different non-linear discrete-time observers are utilized which lead to better performance and more robustness than estimations of future outputs by the pure system model, particularly when only poor system models are known.

Organisationseinheit(en)

Institut für Regelungstechnik

Typ

Aufsatz in Konferenzband

Seiten

851-858

Anzahl der Seiten

8

Publikationsdatum

2001

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

Elektronische Version(en)

http://www.researchgate.net/publication/257418340_Comparative_Study_of_Three_Nonlinear_Discrete-Time_Observer_Designs_for_the_Control_of_a_Bipedal_Robot (Zugang: Unbekannt)