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Mixed l<SUB>2</SUB> / l<SUB>∞</SUB> Preview Control for Biped Walking Pattern Generation
Sadaaki Kunimatsu,Takahiro Fukuda,Makoto Kumon,Mitsuaki Ishitobi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose mixed l2/l∞ preview control for biped walking pattern generation. First, we propose the mixed l2/l∞ preview control via BMI(Bilinear Matrix Inequality) optimization approach for the system representing ZMP of humanoid robots. Next, we derive a method optimizing the mixed l2/l∞ preview controller by transforming the BMI condition into an iterative LMI(Linear Matrix Inequality) condition. Finally, we show the effectiveness of our proposed method by simulation.
An ILMI Approach to Guaranteed Cost Controllers with a Minimal Order Observer
Daisuke Matsunaga,Mitsuaki Ishitobi,Sadaaki Kunimatsu 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper presents a design scheme of a minimal order observer-based guaranteed cost controller for uncertain linear systems, in which some state variables cannot be measured. The perturtations are assumed to be described by structural uncertainties. An iterative linear matrix inequality(ILMI) approach is used to design the observer_based controller. A numerical example is given to illustrate the proposed method.