Observer‐based robust adaptive force‐position controller design for quadruped robots with actuator faults

DOI10.1002/ACS.2923zbMath1402.93153OpenAlexW2888027430WikidataQ129354405 ScholiaQ129354405MaRDI QIDQ4556400

Abbas Ehsani-Seresht, Vahid Johari Majd, Yousef Farid

Publication date: 16 November 2018

Published in: International Journal of Adaptive Control and Signal Processing (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/acs.2923

zbMATH Keywords

sliding-mode controlquadruped robotfault-tolerant controlsliding-mode observerforce-position control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

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