Adaptive Time-Delay Balance Control of Biped Robots

This paper presents an adaptive time-delay control method to handle the balance of a class of biped robots. Considering model uncertainties and unknown external disturbances, a high-dimensional integral Lyapunov function has been developed, then time-delay estimation technique (TDE) is utilized, and in order to compensate for the errors produced by TDE, an adaptive control law is designed. Based on the evolution of the error trajectories, the adaptive control law can automatically regulate the control gains without any threshold value. By the Lyapunov synthesis, the semiglobally uniformly ultimately boundness (UUB) of the closed-loop control system has been theoretically proved. We have conducted the experimental studies on biped robot to demonstrate the effectiveness of the proposed control method.