Predictive PID Control for Dynamically Walking Humanoid Robots - Brossura

Bouhajar, Safa; BESBES, Mongi

 
9783659768354: Predictive PID Control for Dynamically Walking Humanoid Robots
Brossura
ISBN 10: 3659768359 ISBN 13: 9783659768354
Casa editrice: LAP LAMBERT Academic Publishing, 2017

Sinossi

The predictive control strategy has been developing and emerging in the industry in recent years. Predictive command formulation allows explicit inclusion of constraints on process parameters during controller design. In this context, we have cited the most well-known works in the literature of robotics, for the generation of stable bipedal walking based on predictive algorithms and we have listed advantages and disadvantages. We presented a modern approach to predictive PID regulation based on a generalized predictive control algorithm. The novelty of this method lies in the fact that the delays are integrated into the control, without the need for an approximation. In addition, the predictive PID is simple to implement in real time. What justifies, the motivation to apply the predictive PID regulator to control the march of the humanoids.

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Editore
LAP LAMBERT Academic Publishing
Data di pubblicazione
2017
Lingua
Inglese
ISBN 10 
3659768359
ISBN 13 
9783659768354
Rilegatura
Copertina flessibile
Numero di pagine
56
Contatto del produttore
non disponibile
Persona responsabile
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