双足机器人的滑模控制

Sliding-Mode Control of Biped Robot

作者利用牛顿 欧拉法建立了12自由度双足机器人的动力学模型,并建立了双足机器人的滑模控制模型·采用比较简单的李亚普诺夫函数对滑模控制的稳定性进行了分析,并利用滑模控制方法对双足机器人的12个关节自由度进行了加速度补偿控制·通过在各关节自由度上加入给定范围的随机误差来代替双足机器人结构参数、转动惯量及摩擦力等因素对各关节自由度运动所造成的误差·仿真实验结果显示双足机器人的各关节自由度的角位移和角速度的误差都比较小,达到了预期的控制效果·仿真实验结果也证实滑模控制方法能够用于12自由度双足机器人的轨迹跟踪控制·

Use NewtonEuller method to build a dynamics model of biped robot with 12 degrees of freedom, and further build a slidingmode control model of biped robot. Stability analysis of slidingmode control is made by a simpler Lyapunov function, and the angle acceleration of 12 degrees of freedom is compensated using the slidingmode control method. To prove the effectiveness of sliding mode control method on trajectory tracking control, a simulation experiment was done, where the random errors of some given ranges were added to every joint angle instead of the errors caused by such factors as the structure parameters, moment of inertia, friction, etc. The experiment results show that the trajectory tracking errors of angle and angle velocity at each joint angle are small insomuch that the expected effect comes true and prove that the slidingmode control method is available to control the trajectory tracking of biped robot with 12 degrees of freedom.