摘要
针对路面坡度变化后,如何使被动行走机器人在有限时间内只需一步即可完成低能耗的行走模式转换问题,提出一种控制策略.首先基于胞映射思想,提出了估计机器人稳定行走初始状态的变胞胞映射法;然后利用Lyapunov稳定性理论和鲁棒控制思想,设计了变路况切换控制算法.该算法既能实现不同坡度路面上稳定行走模式的转换,又能提高转换过程的鲁棒性.仿真结果验证了所提出算法的有效性.
Concerning the change of slopes, a control strategy is proposed to make the passive dynamic walker realize the switch of walking mode with low energy dissipation in finite time. The alter cell to cell mapping method based on cell mapping theory is proposed to estimate the initial state of the stable gaits. Then the switch controller between different slopes is designed based on Lyapunov stability theory and robust control theory. This controller can accomplishthe switch between different gaits for different slopes efficiently and improve the robustness of switch process. Simulation results show the effectiveness of the control strategy.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第8期1203-1208,共6页
Control and Decision
基金
国家863计划项目(2006AA04Z251)
国家自然科学基金项目(60974067)
吉林财经大学青年项目(2009Q11)
关键词
被动行走机器人
切换控制
变胞胞映射
有限时间
极限环
passive dynamic walker
switch control
alter cell to cell mapping
finite time
limit cycle
