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Analysis of institutional authors

Arcos-Legarda, JaimeCorresponding Author

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June 26, 2024
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Nonlinear Extended State Observer for Hybrid Dynamical Systems

Publicated to:4th Ieee Colombian Conference On Automatic Control: Automatic Control As Key Support Of Industrial Productivity, Ccac 2019 - Proceedings. - 2019-01-01 (), DOI: 10.1109/ccac.2019.8921108

Authors: Arcos-Legarda, Jaime; Cortes-Romero, John; Tovar, Andres

Affiliations

Indiana Univ Purdue Univ, Dept Mech & Energy Engn, Indianapolis, IN 46202 USA - Author
Univ Nacl Colombia, Dept Elect & Elect Engn, Bogota, Colombia - Author
Univ San Buenaventura, Dept Mechatron Engn, Bogota, Colombia - Author
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Abstract

This paper introduces a nonlinear disturbance observer for hybrid dynamical systems with continuous and discrete dynamics. The hybrid dynamical system considered in this work is a bipedal robot. The robot is modeled by a continuous mathematical model connected to a discrete reset functions. The continuous and discrete dynamics are exposed to model parameter uncertainties and external disturbances. The uncertainties and disturbances in the continuous dynamics are lumped into a total disturbance signal, which is estimated through a nonlinear extended state observer (NESO). The disturbance estimation is used to design an active disturbance rejection control (ADRC). To address the reset function uncertainties on the discrete dynamics, a reference trajectory generator is designed to achieve zero tracking error after each reset function using a smooth transition function from the system state to the nominal references. The control strategy proposed in this work is applied to the gait control of a planar, dynamic bipedal robot with point feet, five degrees of freedom, and one degree of underactuation. The gait stability is tested through a linearized Poincare return map.

Keywords

Active disturbance rejection control (adrc)Dynamic bipedal robotDynamic walkinHybrid dynamicsNonlinear extended state observer (neso)

Quality index

Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2025-10-23:

  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 9 (PlumX).

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Colombia; India; United States of America.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (ARCOS LEGARDA, WILLINGTON JAIME) .

the author responsible for correspondence tasks has been ARCOS LEGARDA, WILLINGTON JAIME.