Observer Based Feedback Linearization Control of an Under-actuated Biped Robot
|International Journal of Engineering Trends and Technology (IJETT)||
|© 2013 by IJETT Journal|
|Year of Publication : 2013|
|Authors : Mchiri Mohamed , Trabelsi Karim|
Mchiri Mohamed , Trabelsi Karim. "Observer Based Feedback Linearization Control of an Under - actuated Biped Robot". International Journal of Engineering Trends and Technology (IJETT). V4(5):1899-1907 May 2013. ISSN:2231-5381. www.ijettjournal.org. published by seventh sense research group.
This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under - actuated three link biped robot. We show first that passive dynamics (non - a ctuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed observer is developed in order to estimate the unmeasured velocity signals of the robot. The convergence of the closed loop system is finally proved. Excellent simulations are included to show the effectiveness of the proposed method.
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Biped robot, control, feedback linearization, observer design .