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Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot

Abstract : A second order sliding mode controller is modified to form a continuous homogeneous controller. Uniform finite time stability is proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piece-wise continuous nonhomogeneous disturbances. The modified controller is then utilised to track reference trajectories for all the joints of a fully actuated biped robot where the joint torque is modeled as the control input. The modified controller ensures the attainment of a finite settling time between two successive impacts. The main contribution of the paper is to provide straightforward and realizable engineering guidelines for reference trajectory generation and for tuning a robust finite time controller in order to achieve stable gait of a biped in the presence of an external force disturbance. Such a disturbance has destabilising effects in both continuous and impact phases. Numerical simulations of a biped robot are shown to support the theoretical results.
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https://hal.archives-ouvertes.fr/hal-03750437
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Submitted on : Friday, August 12, 2022 - 11:54:14 AM
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Harshal Oza, Yury Orlov, Sarah Spurgeon, Yannick Aoustin, Christine Chevallereau. Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot. 2014 European Control Conference (ECC), Jun 2014, Strasbourg, France. pp.2600-2605, ⟨10.1109/ECC.2014.6862347⟩. ⟨hal-03750437⟩

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