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针对欠驱动平面双足机器人连续变速行走的控制难题,提出了一种基于关节参考轨迹跟踪和调节的控制方案。该控制方案由一个渐近稳定的反馈控制器和一个比例积分控制器组成。在反馈控制器中,基于反馈线性化和虚拟约束的思想,对五连杆机器人模型设计了虚拟约束和渐近稳定控制器,实现了在有限时间内对关节参考轨迹的跟踪从而使机器人稳定周期行走;在比例积分控制器中,利用行走速度和关节参考轨迹的关联性设计了比例积分控制规则,根据行走速度的设定值和实际值调节关节参考轨迹的参数,实现了行走速度对设定值的跟踪。仿真实验表明,该控制方案能实现欠驱动平面双足机器人的稳定周期行走和连续变速,并且能实现存在建模误差情况下的速度控制,是一种具有较好鲁棒性的变速行走控制方案。
A control scheme based on joint reference trajectory tracking and adjustment is proposed to control the continuous variable speed walk of underactuated planar biped robot. The control scheme consists of an asymptotically stable feedback controller and a proportional integral controller. In the feedback controller, based on the idea of feedback linearization and virtual constraints, a virtual constrained and asymptotic stable controller is designed for the five-link robot model, which can track the joint reference trajectory in a finite time so that the stable period of the robot In proportional integral controller, the proportional integral control rule is designed by using the correlation between walking speed and joint reference trajectory. The parameter of joint reference trajectory is adjusted according to the set value and actual value of walking speed, Value tracking. The simulation results show that the proposed control scheme can achieve stable period walking and continuous speed change of underactuated planar biped robot and it can realize the speed control under the condition of modeling error, which is a robust control scheme of variable speed walking .