This paper presents a disturbance rejection control strategy for hybrid dynamic systems exposed to model uncertainties and external disturbances. The focus of this work is the gait control of dynamic bipedal robots. The proposed control strategy integrates continuous and discrete control actions. The continuous control action uses a novel model-based active disturbance rejection control (ADRC) approach to track gait trajectory references. The discrete control action resets the gait trajectory references after the impact produced by the robot’s support-leg exchange to maintain a zero tracking error. A Poincaré return map is used to search asymptotic stable periodic orbits in an extended hybrid zero dynamics (EHZD). The EHZD reflects a lower-dimensional representation of the full hybrid dynamics with uncertainties and disturbances. A physical bipedal robot testbed, referred to as Saurian, is fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategy against external disturbances and model uncertainties that affect both the swing motion phase and the support-leg exchange.

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gait control of dynamic bipedal extended hybrid zero dynamics model uncertainties poincar return map hybrid dynamic systems zero tracking robots supportleg exchange swing motion phase asymptotic stable periodic orbits modelbased active disturbance rejection control adrc approach bipedal robot continuous and discrete control external disturbances lowerdimensional representation gait trajectory references

Andres Beltran-Pulido,Andres Tovar,Jaime Arcos-Legarda,John Cortes-Romero,.Hybrid disturbance rejection control of dynamic bipedal robots. (),1–26.

Andres Beltran-Pulido, et al."Hybrid disturbance rejection control of dynamic bipedal robots"

Andres Beltran-Pulido,Andres Tovar,Jaime Arcos-Legarda,John Cortes-Romero,"Hybrid disturbance rejection control of dynamic bipedal robots"