Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
A Gap Metric Approach for Controller Certification of a Hydraulically-Actuated Legged Robot
Submission Author:
Jose Luiz Montandon Neto , SP
Co-Authors:
Jose Luiz Montandon Neto, Thiago Boaventura
Presenter: Jose Luiz Montandon Neto
doi://10.26678/ABCM.COBEM2019.COB2019-2184
Abstract
In the last decade robotics became extremely popular among students, researchers as well as in industry due to the advances in technology, and it seems to have promising expectations for the future. The hydraulic quadruped robot, or HyQ, is a class of legged robot with a high power output, responsible for interactions with humans and tools in a dynamic environment where it systems control has to handle different boundary conditions (seeing as uncertainties) at every step of the way. The existence of these uncertainties can cause instability and loss of performance in the system. Therefore, a modern control paradigm is required in order to find controllers that can guarantee stability and performance even in the face of uncertainties. This paper presents a procedure to achieve robust proportional–integral–derivative (PID) tuning based on the gap metric approach combined with a branch and bound algorithm for the controller certification of a HyQ. The case study in this letter is the abrupt mass variation on the legs of the robot during the walk type movement. It is obtained a robust PID controller that can be an alternative to robust controllers like the $H_{\infty}$ and some PID tuning.
Keywords
Hydraulic quadruped robot, Controller certification, Gap metric theory, robust control
