双足机器人的鲁棒自适应复合控制器设计

Robust Adaptive Compensated Control for Biped Robot

针对复杂机器人对象,充分考虑系统的各种不确定因素,在不确定保守上界己知情况下,设计了全局稳定的鲁棒自适应复合控制器。控制器设计在确保高品质控制的同时,避免或减少了参数漂移、保守鲁棒增益及控制系统抖振等问题,从理论与实际的角度提高了控制器的鲁棒性和实用性。仿真实验验证了提出优化方法的有效性,而且机器人能在一定范围外力的干扰下回复稳定姿态步行。

A globally stable robust adaptive compensated controller for complicated biped robot system was designed, the uncertain conservative bound was known. The parameter drift, conservative robust gain and control system chatter of designed controller were avoided or decreased. The work presented is significant for improving controller robusticity and practicability. Eventually, simulation results were used to confirm the validity of proposed method. Else, a biped walking robot is able to keep balance even in the presence of disturbing forces.