A SISO Linear System with An Unstable Inner Loop and Its Application to Zero Moment Point (ZMP) Control

Author

Nazir, Napoleon ; Sampei, Mitsuji ; Nakaura, Shigeki

Author_Institution

Dept. of Mech. & Control Eng., Tokyo Inst. of Technol.

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

2172

Lastpage

2177

Abstract

An analysis of a cascade control system constructed by an inner and an outer feedback loop is presented. It differs from other researches, because the inner feedback loop is unstable. The control method is motivated by balance stabilization of a humanoid robot based on the zero moment point (ZMP) principle where the effectiveness is well-known experimentally. This paper generalizes the control method, and analyzes the stability and the robustness w.r.t. parameter variations of the plant and external disturbances. Some examples to the ZMP control and a simple linear system are described and the simulation results are shown

Keywords

cascade control; closed loop systems; humanoid robots; linear systems; stability; state feedback; SISO linear system; balance stabilization; cascade control system; humanoid robot; stability analysis; unstable inner loop; zero moment point control; Adaptive control; Control engineering; Control systems; Feedback loop; Humanoid robots; Linear feedback control systems; Linear systems; Robust control; Robust stability; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776977

Filename

4776977