Motion control of humanoid robots using sliding mode observer-based active disturbance rejection control

Abstract

This paper presents the implementation of active disturbance rejection control approach for motion control of humanoid robots. The main contribution of this work is the usage of sliding and quasi-sliding observers to enhance the performance of such control strategy. The presented control schemes are based on different modelling techniques of humanoid robots by means of both continuous and discrete time analysis. Such controllers were tested in simulation and in real time experiments using a NAO humanoid robot and showing successful results in walking and balancing control in comparison with a linear Luenberger-observer based similar controller.