跳跃机器人模糊自适应轨迹跟踪控制

Adaptive Fuzzy Control for Trajectory Tracking of Hopping Robot

从受完整约束和非完整约束的腾空相到仅受完整约束的站立相,利用空间浮动基,分阶段建立了类人机器人非规则运动-跳跃运动通用动力学模型;基于Lynapunov方法设计自适应率,研究了跳跃机器人模糊自适应轨迹跟踪控制,保证跟踪收敛和闭环系统的渐进稳定。仿真研究表明,跳跃机器人通用动力学模型为空间机器人建模提供参考;模糊自适应与计算力矩混杂模型轨迹跟踪控制改善了系统自适应性,丰富了非规则运动的姿态控制和稳定性分析方法。

Based on free-floating space, unified dynamics equations of jumping motion are established transferred from flight phase with holonomic and non-holohomic constraints to stance pliase with only holonomic constraints. Trajectory tracking of adaptive fuzzy control was researched. The hybrid model between adaptive fuzzy and computational torque control improved robustness of jumping robot by numerical simulation. The unified dynamics models adapts to the robot space in state of microgravity or weightlessness. The hybrid control can also have a use of posture and stability control for non-regular motion.