Servo control in joint space of biped robot using nonlinear H-infinity strategy

Yongxue Zhang; Haiying Tian; Qing Wang; Wenyi Qiang

doi:10.1117/12.385618

9 May 2000 Servo control in joint space of biped robot using nonlinear H-infinity strategy

Yongxue Zhang, Haiying Tian, Qing Wang, Wenyi Qiang

Proceedings Volume 4077, International Conference on Sensors and Control Techniques (ICSC 2000); (2000) https://doi.org/10.1117/12.385618
Event: International Conference on Sensors and Control Techniques (ICSC2000), 2000, Wuhan, China

Abstract

This paper present a solution to the problem of servo control in joint space of biped robot using a state feedback nonlinear H_(infinity ) optimal disturbance attenuation, which guarantee robust stability against external disturbance and fluctuation of the system parameter. The design aims at finding a stabilizing nonlinear state feedback such that the close loop system is (gamma) dissipative. We know that the nonlinear H_(infinity ) control can be reduced to solvability of the Hamilton-Jacobian-Isaccs partial differential problem, which is difficult to solve. Based on about fact and combining the work of Johansson and Chen, we are able deduce the problem of a state feedback nonlinear H_(infinity ) optimal disturbance attenuation to solving a Riccati-like equation. After some manipulation by use of the skew symmetric property of robot, the Riccati-like equation can be further simplified algebraic matrix problem. Finally, the explicit global solution is presented.

Citation Download Citation

Yongxue Zhang, Haiying Tian, Qing Wang, and Wenyi Qiang "Servo control in joint space of biped robot using nonlinear H-infinity strategy", Proc. SPIE 4077, International Conference on Sensors and Control Techniques (ICSC 2000), (9 May 2000); https://doi.org/10.1117/12.385618

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