Akademik Məlumat İdarəetmə Sistemi
Proceedings of 1993 International Conference on Systems, Man and Cybernetics, Le Touquet, Fr, 17 - 20 October 1993, vol.3, pp.722-727, (Full Text)
The system considered for our application is composed by two rigid links with pneumatic actuators driving rotational joints. This mechanical system constitute a leg of a four legged walking robot. The motion is vertical and constrained by contact with environment. Our goal here is the obtention of an appropriate model for identification and application of adaptive and robust control techniques. In this paper, the system model equations are developed for the actuators and the leg, then parameters identification and state feedback control using the available measurements are proposed and analyzed. The control design and analysis is based on Lyapunov's method and passive systems theory, using the fact that the system obeys the passivity property.