Non-linear system control method, biped robot control device, biped robot control method and its program

摘要

PROBLEM TO BE SOLVED: To provide a control method of a non-linear system capable of controlling an operation of the non-linear system with discontinuous state change in real time, a control device of a bipedal robot, a control method of the bipedal robot and a program thereof.SOLUTION: A state parameter indicating a state of a non-linear system is acquired. A control input value for controlling the non-linear system is calculated using an algorithm of model prediction control. The non-linear system is controlled using the calculated control input value. The control input value is calculated using a penalty function to constrain the state of the non-linear system so that the state changes discontinuously at a specified timing.SELECTED DRAWING: Figure 10