Maximal Output Admissible Set of Foot Position Control in Humanoid Walking

2020 ◽  
pp. 43-51
Author(s):  
Ko Yamamoto ◽  
Ryo Yanase ◽  
Yoshihiko Nakamura
Keyword(s):  
Position Control ◽  
Admissible Set ◽  
Maximal Output ◽  
Foot Position

Reference Governors Based on Online Learning of Maximal Output Admissible Set

2019 ◽  
Author(s):  
Manuel Lanchares ◽  
Ilya Kolmanovsky ◽  
Anouck Girard ◽  
Denise Rizzo
Keyword(s):  
Neural Network ◽  
Explicit Knowledge ◽  
Positioning System ◽  
Admissible Set ◽  
Explicit Model ◽  
Neural Network Learning ◽  
Network Learning ◽  
Control Schemes ◽  
Maximal Output ◽  
Reference Governor

Abstract Reference governors are add-on control schemes that modify the reference commands, if it becomes necessary, in order to avoid constraint violations. To implement a reference governor, explicit knowledge of a model of the system and its constraints is typically required. In this paper, a reference governor which does not require an explicit model of the system or constraints is presented. It constructs an approximation of the maximal output admissible set, as the system operates, using online neural network learning. This approximation is used to modify the reference command in order to satisfy the constraints. The potential of the algorithm is demonstrated through simulations for an electric vehicle and an agile positioning system.

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