Walking Control Using TDE-Based Backstepping SM of Position-Commanded NAO Biped Robot with Matched and Unmatched Perturbations

Keyphrases

• Backstepping Sliding Mode 25%
• Backstepping Technique 25%
• Biped Robot 100%
• Chatter 25%
• Computed Torque Control 25%
• Control Architecture 25%
• Controller 25%
• Design Procedure 25%
• Direct Drive 25%
• Effective Approximation 25%
• Estimation Error 25%
• Exponential Reaching Law 25%
• Fast Convergence 25%
• Humanoid NAO 25%
• Joint Position 25%
• Low Computational Power 25%
• Lyapunov Function 25%
• Mismatched Perturbations 25%
• NAO Robot 25%
• Proportional-derivative 25%
• Robot Dynamics 25%
• Servo Actuator 25%
• Sliding Mode 50%
• Time Delay Estimation 50%
• Trajectory Tracking 25%
• Unmatched Perturbations 100%
• Walking Control 100%

Computer Science

• Actuator 50%
• Approximation (Algorithm) 50%
• biped robot 100%
• Computational Power 50%
• Design Procedure 50%
• Estimation Error 50%
• Fast Convergence 50%
• Joint Position 50%
• Lyapunov Function 50%
• Position Command 50%
• Robot 50%
• time-delay estimation 100%

Engineering

• Actuator 33%
• Computational Power 33%
• Control Architecture 33%
• Delay Estimation 66%
• Design Procedure 33%
• Estimation Error 33%
• Experimental Work 33%
• Joints (Structural Components) 66%
• Lyapunov Function 33%
• Position Command 33%
• Recursive 33%
• Robot 33%
• Servomotors 33%
• Sliding Mode 100%