四足机器人倾斜平面运动稳定控制研究

Research on Stability Control of Tilting Plane Motion of Quadruped Robot

为解决四足机器人在倾斜平面场景下运动时会出现运动不稳定的问题,在MPC控制算法中提出新的误差补偿策略,判断四足机器人控制系统中当前的误差变化情况,控制误差补偿,提高四足机器人运动稳定性;再引入分数阶次幂运算结合预测模型中的预测步长提高调节频率,增强控制系统调节的实时性。利用MATLAB软件对该方法进行仿真,仿真结果表明:提出的方法可以有效解决四足机器人运动不稳定问题,在运动精度上有明显的提高,能在不同倾角斜面中稳定运行,验证了改进方法的有效性和正确性。

When the quadruped robot moves in the inclined plane scene,the motion instability of the quadruped robot will occur.In order to solve this problem,a new error compensation strategy is proposed in MPC(Model Predictive Control)control algorithm,which can judge the current error change in the control system of quadruped robot,control error compensation and improve the motion stability of quadruped robot.Then the fractional power operation combined with the prediction step size in the prediction model is introduced to improve the regulation frequency and enhance the real-time regulation of the control system.Finally,the method is simulated by MATLAB software.The simulation results show that the proposed method can effectively solve the problem of motion instability,improve the motion accuracy obviously,and can run stably in inclined planes with different inclinations,which verifies the effectiveness and correctness of the improved method.