Two-level control scheme for stabilisation of periodic orbits for planar monopedal running

N. Sadati; G.A. Dumont; K.Akbari Hamed; W.A. Gruver

Two-level control scheme for stabilisation of periodic orbits for planar monopedal running

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Two-level control scheme for stabilisation of periodic orbits for planar monopedal running

Author(s): N. Sadati ; G.A. Dumont ; K.Akbari Hamed ; W.A. Gruver
DOI: 10.1049/iet-cta.2010.0512

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Author(s): N. Sadati ^{1, 2} ; G.A. Dumont ² ; K.Akbari Hamed ¹ ; W.A. Gruver ³
- Affiliations: 1: Intelligent Systems Laboratory, Electrical Engineering Department, Sharif University of Technology, Tehran, Iran
  2: Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
  3: School of Engineering Science, Simon Fraser University, Burnaby, Canada
Source: Volume 5, Issue 13, 8 September 2011, p. 1528 – 1543
DOI: 10.1049/iet-cta.2010.0512 , Print ISSN 1751-8644, Online ISSN 1751-8652

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This study presents an online motion planning algorithm for generating reference trajectories during flight phases of a planar monopedal robot to transfer the configuration of the mechanical system from a specified initial pose to a specified final one. The algorithm developed in this research is based on the reachability and optimal control formulations of a time-varying linear system with input and state constraints. A two-level control scheme is developed for asymptotic stabilisation of a desired period-one orbit during running of the robot. Within-stride controllers, including stance and flight phase controllers, are employed at the first level. The flight phase controller is a feedback law to track the reference trajectories generated by the proposed algorithm. To reduce the dimension of the full-order model of running, the stance phase controller is chosen to be a parameterised time-invariant feedback law that produces a family of two-dimensional finite-time attractive and invariant submanifolds. At the second level, the parameters of the stance phase controller are updated by an event-based update law to achieve hybrid invariance and stabilisation. To illustrate the analytical results developed for the behaviour of the closed-loop system, a detailed numerical example is presented.

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Two-level control scheme for stabilisation of periodic orbits for planar monopedal running

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