摘要

For finite-time optimal robust control problem of bipedal walking robot, a class of global and feasible projected Fletcher-Reeves conjugate gradient approach is proposed based on an online convex optimization algorithm. The optimal robust controllers are solved by projected Fletcher-Reeves conjugate gradient approach. The approach can rapidly converge to a stable gait cycle by selecting an initial gait. Under some suitable conditions, we provide a rigorous proof of global convergence and well-defined properties for projected Fletcher-Reeves conjugate gradient approach. To demonstrate the effectiveness of the bipedal walking robot, we will conduct numerical simulations on the model of 3-link robot with nonlinear, impulsive, and underactuated dynamics. Furthermore, to indicate the availability of high-dimensional robotic system, the main result is illustrated on a nonlinear impulsive model of a bipedal walking robot through simulations via finite-time optimal robust controller. Numerical results show that the projected Fletcher-Reeves conjugate gradient approach is feasible and effective for bipedal walking robots. Therefore, it is reasonable to infer that the optimal robust control approach can be used in practical systems.