侧向推搡下的四足机器人复合抗扰控制策略

针对四足机器人侧向推搡下的平衡恢复问题,提出了一种复合抗扰反应式鲁棒控制策略.该策略由摆动相的自适应侧摆规划策略和支撑相的关节抗扰控制构成.摆动相自适应侧摆规划策略通过四足机器人足端落地点的力平衡条件进行主动式步态规划以保证机器人在侧向推搡下的姿态稳定,并基于关节输出力矩给出了侧摆的启动条件.支撑相关节抗扰控制通过带扰动项的四足机器人完整动力学模型设计了基于干扰观测器的鲁棒滑模控制器,实现对侧向推搡扰动的补偿.最后,通过Matlab与ADAMS联合仿真验证了提出的控制策略的有效性.

Composite Disturbance Rejection Control Strategy for Quadruped Robot under Lateral Disturbance

We propose a composite robust reactive control strategy with disturbance rejection to solve the balance recovery problem of the quadruped robot under lateral disturbance.The proposed strategy has two parts:An adaptive lateral motion planning strategy for the swinging phase and joint robust control for the supporting phase.The swing-phase adaptive lateral motion planning strategy gives the starting conditions of the lateral motion based on the joint output torque,and performs active gait planning based on the force balance conditions of the foot of the quadruped robot to ensure the stability of the robot's posture under lateral disturbance.The supporting-phase joint control compensates for the lateral disturbance of the supporting leg joint via a robust sliding mode controller,which has a disturbance observer based on a complete dynamic model of the quadruped robot that includes a disturbance term to ensure the stability of the quadruped robot under lateral disturbance.The effectiveness of the proposed control strategy is verified by a co-simulation of Matlab and ADAMS.