欠驱动步行机器人自抗扰控制系统的设计与分析

Design and analysis of active disturbance rejection control system for under actuation walking robot

完全被动机器人具有局部稳定性,只有在斜坡上步行周期才能够收敛到一个恒定的不动点,而其他情况下,它步行周期的稳定性会被打破,难以保持步行的稳定性.针对这种情况设计了一种欠驱动步行机器人,为了提高其行走能力,开发了一种基于人体参数欠驱动步行机器人自抗扰控制系统.该控制器是结合欠驱动行走理论,基于多通道自抗扰控制方法,以"不动点"作为系统的输入状态变量,对机器人系统实现解耦控制,实现行走.利用Simulink进行建模仿真,分析结果表明:该控制器简单有效,能够帮助机器人实现欠驱动步行;在外界扰动作用下仍能快速收敛到稳定区间,大幅提升了机器人鲁棒性.

Passive dynamic walker has local stability with walking cycle converging to a fixed point on the slope, and in other circumstances, the stabilization of walking cycle is broken to result in unstable walking . An under actuated walking robot was designed and developed to solve the problemthe walking ability , an active disturbance rejection control system was proposed for the under actuatedwalking robot based on human parameters. Combining the under actuated walking theory and based onmultichannel ADRC method , the fixed point was used as system input state variables to achieve decoupling control and walking. The proposed control system was modeled and analyzed by Simulink.The results showthat the robot can simply andeffectively achieve under actuated walking by the control system. Under external disturbance , every original state of walking cycle can also be limited in acceptable range. The robustness performance of robot system is improved drastically.