Angle of Attack Control for Running Robots

Angle of Attack Control for Running Robots

Griffioen, K.E.

Van der Helm, F.C.T. (mentor)
Karssen, J.G.D. (mentor)

Mechanical, Maritime and Materials Engineering

BioMechanical Engineering

Biorobotics

2011-06-29

For running robots, angle of attack control is an important part of the controller, as the angle of attack has a large influence on the state of the running robot. Over the last 25 years, many angle of attack controllers have been introduced. However, it is unknown what the relative performance is of these controllers. The goal of this study is to determine the best angle of attack controller in terms of disturbance rejection and robustness. In this study, we investigated the disturbance rejection and robustness of the six most used angle of attack controllers. We found that dead-beat control provides by far the best disturbance rejection. Furthermore, dead-beat control also performs very well in terms of robustness; its disturbance rejection is hardly affected by model and sensor errors. For these reasons, we consider dead-beat control the best angle of attack controller.

running robot

http://resolver.tudelft.nl/uuid:e49f10ab-394e-464a-8db7-4c443ea1060d

2013-06-29

Student theses

master thesis

(c) 2011 Griffioen, K.E.