文章基本信息

标题：Stance Phase Control System of a Jumping Robot
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作者：Mircea Ivanescu
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：17
页码：111-116
DOI：10.1016/j.ifacol.2019.11.036
语种：English
出版社：Elsevier
摘要：The paper treats the control of the jumping robot during the stance phase using the fractal model of the system. Considering an actuation system based on the Electro-Rheologic (ER) fluid controller, a fractal model is inferred. The linearized model and nonlinear models are studied and control frequential laws are proposed using YKP criterions. Observer models are proposed for linear and nonlinear systems and the global stability for “system-observer” is studied by Lyapunov techniques. Numerical simulations are presented.
关键词：Keywordsroboticscontrolstabilityobserverfrequential criterion