PROJECT TITLE :

Robustness analysis of locomotion controllers for mechanical rectifier systems in natural oscillation

ABSTRACT:

A class of feedback controllers has been proposed to attain a desired locomotion behaviour for mechanical rectifier systems in recent work. It is impressed by a biological neuron circuit called central pattern generator and is predicted to exhibit sturdy and adaptive talents against system parameter uncertainties and external disturbances. The controller was originally designed in an ideal scenario that system parameters such as friction coefficients were precisely known, and measurement channels and actuation circuits were noiseless. During this study, the authors conduct specific robustness analysis for the locomotion controller with respect to system parameter variations and measurement and actuation noises. The numerical study shows that the locomotion controller is able to keep up a affordable performance below these circumstances.