Hybrid State Constraint Adaptive Disturbance Rejection Controller for a Mobile Worm Bio-Inspired Robot

Hybrid State Constraint Adaptive Disturbance Rejection Controller for a Mobile Worm Bio-Inspired Robot

This study presents the design of a hybrid active disturbance rejection controller (H-ADRC) which regulates the gait cycle of a worm bio-inspired robotic device (WBRD). The WBRD is designed as a full actuated six rigid link robotic manipulator. The controller considers the state restrictions in the...

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Bibliographic Details
Main Authors: Vania Lara-Ortiz, Ivan Salgado, David Cruz-Ortiz, Alejandro Guarneros, Misael Magos-Sanchez, Isaac Chairez
Format: Article
Language:English
Published: MDPI AG 2020-03-01
Series:Mathematical and Computational Applications
Subjects:
adaptive disturbance rejection controller
hybrid systems
state constraint
worm robot
bio-inspired robots
Online Access:https://www.mdpi.com/2297-8747/25/1/13

Internet

https://www.mdpi.com/2297-8747/25/1/13

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