<inline-formula><tex-math notation="LaTeX">$\mathcal {H}_{2}$</tex-math></inline-formula>- and <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula>-Optimal Model Predictive Controllers for Robust Legged Locomotion

<inline-formula><tex-math notation="LaTeX">$\mathcal {H}_{2}$</tex-math></inline-formula>- and <inline-formula><tex-math notation="LaTeX">$\mathcal {H}_\infty$</tex-math></inline-formula>-Optimal Model Predictive Controllers for Robust Legged Locomotion

This paper formally develops robust optimal predictive control solutions that can accommodate disturbances and stabilize periodic legged locomotion. To this end, we build upon existing optimization-based control paradigms, particularly quadratic programming (QP)-based model predictive controllers (M...

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Bibliographic Details
Main Authors: Abhishek Pandala, Aaron D. Ames, Kaveh Akbari Hamed
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Open Journal of Control Systems
Subjects:
Nonlinear systems and control
optimal control
robotics
robust control
stability of nonlinear systems
Online Access:https://ieeexplore.ieee.org/document/10543084/
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https://ieeexplore.ieee.org/document/10543084/

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