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Abstract
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Article Information:
Switched Control for the Walking of a Compass Gait Biped Robot
Walid Arouri, Elyes Maherzi, Mongi Besbes and Safya Belghith
Corresponding Author: Walid Arouri
Submitted: December 21, 2013
Accepted: January 16, 2014
Published: May 15, 2014 |
Abstract:
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This study presents a new approach for modeling and controlling of a compass gait biped robot based on the use of the switched systems. The linearization of the equations stemming from the formalism of Lagrange allows the construction of a set of local models used to describe the behavior of this non linear system. The selection of each model depends on its activation function depending on the system states. The synthesis of the stability of the walking robot is based on the use of second method of Lyapunov. The synthesis approach leads to a set of bilinear matrices inequalities non resolvable by actual numerical solvers. To come over these difficulties, some relaxations are brought to get useful and exploitable numerical solutions.
Key words: Bilinear Matrix Inequalities (BMI), Lagrange formulation, Linear Matrix Inequalities (LMI), lyapunov method, relaxation, stability, switched system
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Cite this Reference:
Walid Arouri, Elyes Maherzi, Mongi Besbes and Safya Belghith, . Switched Control for the Walking of a Compass Gait Biped Robot. Research Journal of Applied Sciences, Engineering and Technology, (19): 4143-4149.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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