A Hybrid Predictive Control Approach to Trajectory Tracking for a Fully Actuated Biped

We model a three-link fully actuated biped as a hybrid system and propose a prediction-based control algorithm for global tracking of reference trajectories. The proposed control strategy consists of a reference system that generates the desired periodic gait, a virtual system that generates a suitable reference trajectory using prediction, and a tracking control law that steers the biped to the virtual trajectory. The proposed algorithms achieves, in finite time, tracking in two steps. We present mathematical properties that define the main elements in the hybrid predictive controller for achieving convergence to the reference within the first two steps. The results are validated through numerical simulations.