基于高阶滑模观测器的五连杆双足行走机器人绝对方位估计

International Workshop on Variable Structure Systems, 2006. VSS'06. Pub Date : 2006-06-05 DOI:10.1109/VSS.2006.1644546

V. Lebastard, Y. Aoustin, F. Plestan, L. Fridman

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引用次数: 18

摘要

为了避免传感器的使用，设计了一种用于确定五连杆双足机器人绝对方位的观测器，这是本文的创新点之一。事实上，这种变量的测量是相当微妙的。该观测器基于高阶滑模方法，具有鲁棒性和有限时间收敛性

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Absolute orientation estimation based on high order sliding mode observer for a five link walking biped robot

An observer to determine the absolute orientation of a 5-link biped robot is designed, in order to avoid the use of a sensor, which is one of the originalities of this paper. As a matter of fact, the measurement of such variable is quite delicate. The observer is based on the high order sliding mode approach, for its features of robustness and finite-time convergence property

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International Workshop on Variable Structure Systems, 2006. VSS'06.

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