Résumé
In this paper, a new nonlinear predictive control scheme is proposed for a five-links planar under-actuated biped walking robot.The basic feature in the proposed strategy is to use on-line optimization to update the tracked trajectories in the completely controlled variables (actuated coordinates). The stability issue is discussed using the Poincaré's section tool leading to a computable criterion that enables the stability of the overall scheme to be investigated as well as the computation of a candidate region of attraction. The whole framework is illustrated through simulation cases-studies. To attest the effciiency of the proposed scheme, robustness against model uncertainties and ground irregularities are investigated by simulation studies.