Predictive PID Control for Dynamically Walking Humanoid Robots

The predictive control strategy has been developing and emerging in the industry in recent years. Predictive command formulation allows explicit inclusion of constraints on process parameters during controller design. In this context, we have cited the most well-known works in the literature of robotics, for the generation of stable bipedal walking based on predictive algorithms and we have listed advantages and disadvantages. We presented a modern approach to predictive PID regulation based on a generalized predictive control algorithm. The novelty of this method lies in the fact that the delays are integrated into the control, without the need for an approximation. In addition, the predictive PID is simple to implement in real time. What justifies, the motivation to apply the predictive PID regulator to control the march of the humanoids.

Autorentext

Dr. Safa BOUHAJAR was born in ZAGHOUAN, Tunisia. She received a degree "electrical engineering", a master thesis degree, and a Ph.D Thesis from the National School of Engineers of Tunis in 2009, in 2011 and 2016, respectively all in electrical engineering and automatic. She is currently working on the advanced control strategy for the robots.