基于H∞的双足机器人关节控制方法研究

H∞ Theory-Based Joints Control Approach for A Biped Robot

本文利用拉格朗日法建立了双足步行机器人的动力学模型,从中提取出干扰和摄动。通过分析和求解H∞状态反馈控制问题,设计了一个鲁棒控制器,该控制器既能使双足步行机器人控制系统对干扰不敏感,又对摄动保持稳定。得到H∞控制器后,给出了双足步行机器人的全局关节控制系统,并且对双足步行机器人进行了仿真实验,实验结果验证了控制方法的有效性。

this paper builds a dynamic model of a biped robot with Lagrangian method, then disturb and perturbation is extracted from the model. Through solving the problem about H∞ state feedback,a robust controller is devised,which made the biped robot system not sensitive to disturb and keep stable with perturbation. The overall joints-controller is obtained based on the H∞ controller. In the end simulation was implement to the biped robot, and results testified that controller is effective.