Data driven adaptive predictive control for holonomic constrained under-actuated biped robots

IEEE Transactions on Control Systems Technology

Volumn 20, Issue 3, 2012, Pages 787-795

  Ge, Shuzhi Sam ^a   Li, Zhijun ^b,c   Yang, Huayong ^d  

^a UNIVERSITY OF ELECTRONIC SCIENCE AND TECHNOLOGY OF CHINA   (China)

^b SHANGHAI JIAO TONG UNIVERSITY   (China)

^c BEIJING UNIVERSITY OF POSTS AND TELECOMMUNICATIONS   (China)

^d ZHEJIANG UNIVERSITY   (China)

Author keywords

Biped robot; support vector regression (SVR); under actuated mechanical system

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE PREDICTIVE CONTROL; BIPED ROBOT; CLOSED LOOPS; CONTROL TECHNIQUES; DATA DRIVEN; DATA-DRIVEN MODEL; DYNAMICS UNCERTAINTIES; IMPLICIT FUNCTION; IN-CONTROL; LEVEL OF ABSTRACTION; LYAPUNOV SYNTHESIS; MECHANICAL SYSTEMS; MODEL PREDICTIVE; OFFLINE DATA; ON-LINE PARAMETERS ESTIMATION; SUPPORT VECTOR; SUPPORT VECTOR REGRESSION (SVR); UNDER-ACTUATED BIPED ROBOT;

CONTROL SYSTEMS;

SYSTEMS ANALYSIS;

EID: 84859896649     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2011.2145378     Document Type: Article

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