Sharif Digital Repository

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020... 

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. © 2020... 

This paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot's model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance. Copyright ©... 

The canonical problems in control of the biped robots arise from underactuation, impulsive nature of the impact with the environment and existence of the many degrees of freedom in their mechanism. Since biped walkers have fewer actuators than degrees of freedom, they are underactuated mechanical systems. In this paper according to the humans and animals locomotion algorithms, the stability of an underactuated biped walker with point feet is done by central pattern generator and feedback networks. For tuning the parameters of the CPG network, the control problem is defined as an optimization problem. This optimization problem is solved by using of Genetic algorithm. Also a new feedback...