双足机器人鲁棒轨迹跟踪控制

Robust trajectory tracking control of biped robot

根据机器人的动态特性和鲁棒控制理论,利用拉格朗日法建立了Robonova-1机器人的动力学模型。针对机器人系统的跟踪轨迹控制问题,考虑该系统实际存在的不确定性,基于机器人系统中存在的不确定性的上界设计了一个鲁棒控制器。仿真实验结果证明,该鲁棒控制方法对模型的不确定性或外部干扰对机器人系统产生的影响具有一定的抑制作用,对双足机器人的控制是有效的。

According to the robot＇s dynamic performance and robust control theory,the Robonova-1 robot dynamic model can be established by Lagrange method. As to the trajectory tracking control in robotic systems, a trajectory tracking controller is designed, through the lemma of bounded terminal value with the uncertainties of the actual systems considered. The simulation results show that the robust control method of model uncertainty or external disturbance on the impact of the robot system has a certain inhibitory effect, so the control of the biped robot is effective.