IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robust Nonlinear Model Predictive trajectory free control of biped robots based on nonlinear disturbance observer

2010 18th Iranian Conference on Electrical Engineering (ICEE)

Author(s): Parsa, M. ; Farrokhi, M.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Isfahan, Iran, Iran
Conference Date: 11 May 2010
Page(s): 617 - 622
ISBN (CD): 978-1-4244-6761-7
ISBN (Electronic): 978-1-4244-6760-0
ISBN (Paper): 978-1-4244-6760-0
DOI: 10.1109/IRANIANCEE.2010.5506996
Regular:

This paper employs nonlinear disturbance observer for robust Nonlinear Model Predictive Control (NMPC) of biped robots. The NMPC is used in order to imitate some properties of human walking, which... View More

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