We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems in the presence of model uncertainty. The proposed method formulates robust control Lyapunov and barrier functions to provide guarantees of stability and safety in the presence of model uncertainty. We evaluate our proposed control design on dynamic walking of a five-link planar bipedal robot subject to contact force constraints as well as safety-critical precise foot placements on stepping stones, all while subject to model uncertainty. We conduct preliminary experimental validation of the proposed controller on a rectilinear spring-cart system under different types of model uncertainty and perturbations.

翻译：我们提出了一种通过二次方案进行最佳稳健控制的新方法,这种方案既可跟踪稳定性,又受投入和基于国家的限制以及非线性动态机器人系统在模型不确定性情况下的安全关键限制,在模型不确定性情况下,可提供最佳稳健控制的新办法;拟议方法制定了强有力的控制 Lyapunov 和屏障功能,以便在模型不确定性情况下,提供稳定性和安全的保障;我们评估了我们关于五连双翼双翼双翼机器人动态行走的拟议控制设计,该机器人受接触力量制约,以及在踏脚石上安全临界精确的脚步位置,所有这些都受模型不确定性的影响;我们根据不同类型的模型不确定性和扰动,对拟在直线性对流性弹簧器系统中的控制者进行初步实验性鉴定。