| 点接触式两足步行机器人直立姿态稳定控制 |
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| 引用本文： | 绳涛,王剑,马宏绪.点接触式两足步行机器人直立姿态稳定控制[J].控制工程,2008,15(6). |
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| 作者姓名： | 绳涛 王剑 马宏绪 |
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| 作者单位： | 国防科技大学,机电工程与自动化学院,湖南,长沙,410073 |
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| 基金项目： | 国家自然科学基金资助项目 |
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| 摘 要： | 针对点接触式两足步行机器人提出了一种直立姿态稳定控制策略。建立了机器人动力学模型,对机器人直立姿态的稳定性和可控性进行分析;并基于T-S模型建模,构造机器人全局模糊模型,基于LQR最优控制理论,设计全局渐近稳定的模糊控制器对机器人直立姿态进行稳定控制。仿真结果表明,该算法具有较宽的稳定范围,可以使机器人在上电以后和从行走切换到站立状态时迅速恢复直立姿态,保持稳定。
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| 关 键 词： | 两足机器人 欠驱动系统 直立姿态 稳定控制 |
Vertical Posture Control of Point-Connecting Biped Robots |
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| SHENG Tao,WANG Jian,MA Hong-xu.Vertical Posture Control of Point-Connecting Biped Robots[J].Control Engineering of China,2008,15(6). |
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| Authors: | SHENG Tao WANG Jian MA Hong-xu |
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| Abstract: | Vertical posture control of point-connecting biped robot is discussed.The robot dynamical model is developed and the stability and controllability of the robot vertical posture are discussed.Then the global fuzzy model is obtained by employing the T-S fuzzy modeling method,and the global asymptotical stable controller is designed by the LQR optimal control theory.Simulation result shows that the strategy has wide stable area,and the robot can get vertical posture and achieve stabilization quickly after power-on and stopping walking. |
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| Keywords: | biped robot underactuated system vertical posture stabilization control |
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