An Adaptive Supervisory Control Approach to Dynamic Locomotion Under Parametric Uncertainty
Prem Chand,Sushant Veer,Ioannis Poulakakis,Prem Chand,Sushant Veer,Ioannis Poulakakis
This paper presents an adaptive control scheme for robotic systems that operate in the face of-potentially large-structured uncertainty. The proposed adaptive controller employs an on-line supervisor that utilizes logic-based switching among a finite set of controllers to identify uncertain parameters, and adapt the behavior of the system based on a current estimate of their value. To achieve this...
