A Dai–Yuan conjugate gradient algorithm of linear equation constrained optimization approach for optimal robust controller of bipedal robots
In this article, combined rapidly exponential control Lyapunov function with hybrid zero dynamics, a sufficiently descent projected Dai–Yuan approach is proposed, investigated, and analyzed for online solving optimal robust control problems with linear equation constraints of bipedal robots. Moreove...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419890178 |