Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties

Abstract

This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging mainly because of the highly complex bipedal walking dynamics that are hybrid and involve nonlinear, uncontrolled state-triggered jumps. The main contribution of the study is the synthesis of a continuous-phase adaptive robust tracking control law for hybrid models of bipedal robotic walking by incorporating the construction of multiple Lyapunov functions into the control Lyapunov function. The evolution of the Lyapunov function across the state-triggered jumps is explicitly analyzed to construct sufficient conditions that guide the proposed control design for provably guaranteeing the stability and tracking the performance of the hybrid system in the presence of uncertainties. Simulation results on fully actuated bipedal robotic walking validate the effectiveness of the proposed approach in walking stabilization under uncertainties.