Comparative study of adaptive controllers for a pneumatic driven leg

Guihard M., Fontaine J., M'Sirdi N. K.

Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3), Munich, Germany, 12 - 16 September 1994, vol.2, pp.1164-1171, (Full Text) identifier

  • Nəşrin Növü: Conference Paper / Full Text
  • Cild: 2
  • Çap olunduğu şəhər: Munich
  • Ölkə: Germany
  • Səhifə sayı: pp.1164-1171
  • Açıq Arxiv Kolleksiyası: Konfrans Materialı
  • Adres: Bəli

Qısa məlumat

In this paper, we make a comparative study between two adaptive control strategies applied to a leg of a quadruped. This leg is composed of two rigid links with pneumatic actuators driving rotational joints. In order to enable non linear control approaches, a model of this system is built. The control design is based in one hand on MRAS and on the other hand on the passive system theory which ensure the asymptotic stability of the whole. Adaptation laws are proposed, grounded either on the number of operations keeping in mind real time implementation facilities, or on the robustness toward disturbances. These control laws are compared using simulation results.