Predictive PID Control for Dynamically Walking Humanoid Robots - Couverture souple

Bouhajar, Safa; BESBES, Mongi

 
9783659768354: Predictive PID Control for Dynamically Walking Humanoid Robots
Couverture souple
ISBN 10 : 3659768359 ISBN 13 : 9783659768354
Editeur : LAP LAMBERT Academic Publishing, 2017

Synopsis

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.

Les informations fournies dans la section « Synopsis » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2017
Langue
anglais
ISBN 10 
3659768359
ISBN 13 
9783659768354
Reliure
Broché
Nombre de pages
56
Coordonnées du fabricant
non disponible
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