SUMMARYThis paper proposes a new design of robust control combining feedback linearization, backstepping, and sliding mode control called FLBS applied to the locomotion of five-link biped robot. Due to the underactuated robot’s model, the system has a hybrid nature, while the FLBS control can provide a stabilized walking movement even with the existence of large disturbances and uncertainties by implementing smooth chatter-free signals. Stability of the method is proven using the Lyapunov theorem based on the hybrid zero dynamics and Poincaré map. The simulations show the controller performance such as robustness and chatter-free response in the presence of uncertainty and disturbance.

中文翻译：

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应用于五连杆双足机器人运动的新鲁棒控制方法

摘要本文提出了一种新的鲁棒控制设计，它结合了反馈线性化、反步法和滑模控制，称为 FLBS，应用于五连杆双足机器人的运动。由于欠驱动机器人的模型，该系统具有混合性质，而FLBS控制通过实现平滑的无颤动信号，即使存在较大的干扰和不确定性，也可以提供稳定的步行运动。使用基于混合零动力学和庞加莱图的李雅普诺夫定理证明了该方法的稳定性。仿真显示了控制器的性能，例如在存在不确定性和干扰的情况下的鲁棒性和无颤振响应。