A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parame...A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parameters and a directly friction state variable The dynamic structured Fuzzy Neural Network (RFNN) is designed to give additional robustness to the cantrol system under the presence of the friction model uncertainty. A proposed composite cantrol scheme is applied to the position tracking control of the servo systen. The performances of the proposed friction observer and the friction controller are demonstrated by simulation.展开更多
The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for bo...The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for both static and dynamic effects,to model the horizontal ground reaction force of passive dynamic walking.We present a detailed mathematical modeling method and perform numerical simulations using it.Furthermore,we analyze the ground surface cases of the Coulomb friction condition and static friction condition to verify the model’s generalization.We discover the required condition for the existence of the period-1 gait through investigation.Our mathematical model and theoretical analysis add to our understanding of passive dynamic walking,which helps to positively utilize the natural dynamics of the legged locomotion system in control design.展开更多
基金supported by Ministry of Knowledge and Economy,Koreathe ITRC(Information Technology Research Center)support program(ⅡTA-2009-C1090-0902-0004)
文摘A nonlinear dynamic friction control is dealt with using dynamic friction observer and intelligent cantrol. The adaptive dynamic friction obsrver based on the LuGre friction is proposed to estimate the friction parameters and a directly friction state variable The dynamic structured Fuzzy Neural Network (RFNN) is designed to give additional robustness to the cantrol system under the presence of the friction model uncertainty. A proposed composite cantrol scheme is applied to the position tracking control of the servo systen. The performances of the proposed friction observer and the friction controller are demonstrated by simulation.
基金supported by Fundamental Research Funds for the Central Universities,China(buctrc202215).
文摘The friction force is an important environmental factor that influences dynamic walking.While most of the related works simply assume static friction or Coulomb friction,we use the LuGre friction,which accounts for both static and dynamic effects,to model the horizontal ground reaction force of passive dynamic walking.We present a detailed mathematical modeling method and perform numerical simulations using it.Furthermore,we analyze the ground surface cases of the Coulomb friction condition and static friction condition to verify the model’s generalization.We discover the required condition for the existence of the period-1 gait through investigation.Our mathematical model and theoretical analysis add to our understanding of passive dynamic walking,which helps to positively utilize the natural dynamics of the legged locomotion system in control design.