Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model

Shimmyo, Shuhei; Sato, Tomoya; Ohnishi, Kouhei

doi:10.1109/tie.2012.2221111

Cited by 109 publications

(72 citation statements)

References 36 publications

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“…The controller of system (1) can be taken as (10). And under this controller, the closed-loop system of system (1) can achieve good tracking of the reference signal.…”

Section: Theoremmentioning

confidence: 99%

“…Finally an optimal preview controller was obtained by the extremum principle. Due to decades of research, preview control not only has made a major theoretical breakthrough (e.g., preview control theory of multirate systems, time-varying systems, continuous-time stochastic systems, and so on [4][5][6][7]), but it also has been used successfully in many other areas [8][9][10].…”

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confidence: 99%

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H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

Liao

Deng

2017

Asian Journal of Control

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Abstract:This paper investigates the problem of H∞ preview tracking control with robust performance for uncertain discrete-time systems. In order to avoid applying the difference operator to the time-varying matrix, by taking advantage of the difference between the system state variables, input variables, and the corresponding auxiliary variables, instead of the usual difference between system states, an augmented error system including previewed information is constructed, which converts the tracking problem into a regulator problem. A sufficient condition based on the free-weighting matrices technique and the Lyapunov stability theory is derived for the robust asymptotic stability of uncertain systems. Moreover, a state feedback control law with preview action design method is obtained via linear matrix inequality (LMI) approach. Based on these, a state observer for preview control systems is formulated. Previewable reference signals are fully utilized through reformulation of the output equation while designing the state observer. The proposed construction method of augmented error system is applicable to uncertain discrete-time system in which the uncertainties are general. Also an integrator is introduced to ensure the closed-loop system tracking performance with no static error. The numerical results also show the effectiveness of the preview control law for uncertain systems in the paper. Asian Journal of Control

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“…The controller of system (1) can be taken as (10). And under this controller, the closed-loop system of system (1) can achieve good tracking of the reference signal.…”

Section: Theoremmentioning

confidence: 99%

mentioning

confidence: 99%

H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

Liao

Deng

2017

Asian Journal of Control

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“…A mechanical system composed of some masses connected with flexible shafts such as steel rolling mills, variable-speed wind turbine, industrial robot, ele-vator systems and so on, is called multi-mass resonant sys-tem [4,5]. This simplified approach has been used in different industrial applications [6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Controller Design for Three-Mass Resonant System Based on Polynomial Method

Shahgholian¹

2017

IJSTS

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Abstract:The mechanical system in the industrial electrical drives can be modelled by a multi-mass system. Torsional vibration suppression and attainment of robustness in motion control systems is a requisite in industry applications. In this paper, the system that is three-mass system is considered. A speed control method based on polynomial method introduced to imple-mentation of torsional vibration is proposed. The effectiveness of the proposed controller is demonstrated by transfer function analysis and simulation results. The simulation results show that the proposed controller improves dynamic performance and suppresses torsional vibration of three-mass resonant system.

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“…Another approach (called the preview control approach) solves the bipedal walking as a ZMP tracking problem [7]. In this paper we overview two main walking pattern generation principles which are applied for Russian-made AR-601M anthropomorphic robot -a preview control method [8,9] and a virtual height inverted pendulum method [10,11]. Virtual experiments and control algorithms evaluation for AR-601M are performed in Simulink environment.…”

Section: Introductionmentioning

confidence: 99%

Modelling of dynamically stable AR-601M robot locomotion in Simulink

et al. 2016

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Abstract. Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF) are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

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Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model

Cited by 109 publications

References 36 publications

H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

Controller Design for Three-Mass Resonant System Based on Polynomial Method

Modelling of dynamically stable AR-601M robot locomotion in Simulink

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Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model

Cited by 109 publications

References 36 publications

H∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

H∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

Controller Design for Three-Mass Resonant System Based on Polynomial Method

Modelling of dynamically stable AR-601M robot locomotion in Simulink

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H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems

H_∞ Preview Control of A Class of Uncertain Discrete‐Time Systems