Title :
Finite time observer for absolute orientation estimation of a five-link walking biped robot
Author :
Lebastard, V. ; Aoustin, Y. ; Plestan, F.
Author_Institution :
IRCCyN, Ecole Centrale de Nantes
Abstract :
This paper presents results on design of sliding mode observers for estimation of absolute orientation of a 5-link biped robot. Estimation of absolute orientation is interesting because it is, by a technical point-of-view, quite difficult to measure
Keywords :
control system synthesis; discrete time systems; legged locomotion; nonlinear control systems; observability; observers; position control; variable structure systems; absolute orientation estimation; finite time observer; five-link walking biped robot; sliding mode observers; Actuators; Control systems; Convergence; Estimation error; Legged locomotion; Nonlinear systems; Observers; Robot sensing systems; Sliding mode control; Stability;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1656601
