Switched Control of a Time Delayed Compass Gait Robot

the analysis and control of delayed systems are becoming more and more research topics in progress. This is mainly due to the fact that the delay is frequently encountered in technological systems. Most control command laws are based on current digital computers and delays are intrinsic to the process or in the control loop caused by the transmission time control sequences, or computing time. In other hand, the controls of humanoid walking robot present a common problem in robotics because it involves physical interaction between an articulated system and its environment. This close relationship is actually a common set of fundamental problems such as the implementation of robust stable dynamic control. This paper presents acomplete approach, based on switched system theory, for the stabilization of a compass gait robot subject to time delays transmission. The multiple feedback gains designed are based on multiple linear systems governed by a switching control law. The establishment of control law in real time is affected by the unknown pounded random delay. The results obtained from this method show that the control law stabilize the compass robot walk despite a varying delay reaching six times sampling period.

@article{Maherzi2016,
  title     = {Switched Control of a Time Delayed Compass Gait Robot},
  journal   = {International Journal of Advanced Computer Science and Applications},
  volume    = {7},
  number    = {7},
  year      = {2016},
  publisher = {The Science and Information Organization},
  author    = {Elyes Maherzi and Walid Arouri and Mongi Besbes},
  doi       = {10.14569/IJACSA.2016.070714},
  url       = {https://doi.org/10.14569/IJACSA.2016.070714}
}