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Nonlinear Extended State Observer for Hybrid Dynamical Systems

Publicado en: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

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

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Resumen

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.

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