Robust control method of dynamic biped walking robot

A walking robot, robust control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as limiting the design requirements of the controller, achieve a wide range of applications, improve stability and robustness , overcoming the effect of design limitations

Inactive Publication Date: 2019-01-08
CHONGQING UNIV
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Problems solved by technology

However, in the process of quadratic programming model design, the objective function must be quadratic, and the constraints can only be linear, which limits the controller design requirements

Method used

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  • Robust control method of dynamic biped walking robot
  • Robust control method of dynamic biped walking robot
  • Robust control method of dynamic biped walking robot

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Embodiment

[0063] Example: such as Figure 1 to Figure 11 Shown; a dynamic biped walking robot robust control method, it includes:

[0064] S1: Establish dynamic model of biped walking robot;

[0065] S2: Design a robust controller;

[0066] S3: Design the Dai-Yuan linear equality constraint optimization algorithm.

[0067] The dynamic model of the dynamic biped walking robot in the step S1 is as follows:

[0068]

[0069] Among them, the vector field is a local Lipschit continuous function, is the state variable before the collision, is the state variable after collision, S is the collision switching surface when the swing leg is in contact with the ground, Δ is the collision algebraic mapping, q is the state variable of the robot, u∈R m It is the control signal input; define the output function as y(q)=H 0 (q)-y d (θ(q)); θ(q) is a strictly monotonic function about the variable q, y d (θ(q)) is the expected trajectory of the robot.

[0070] In the step S2, before the de...

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Abstract

The invention relates to a robust control method aiming at gait optimization control of a dynamic biped walking robot, and specifically relates to a robust control method of the dynamic biped walkingrobot. Aiming at a dynamic biped walking robot optimal robust control problem, in combination of a fast exponential stability control Lyapunov function and hybrid zero dynamics, a kind of projection Dai-Yuan equality constraint optimization algorithm with sufficient descent characteristics is provided through full consideration of a control torque saturation condition. In the method, a numerical simulation experiment is executed for a 3-bar dynamic biped walking robot model with nonlinear, under-actuated and pulse mixed characteristics, a numerical result shows that an optimal robust controller solved by the projection Dai-Yuan equality constraint optimization algorithm still can realize high-efficiency and steady walking gait of the dynamic biped walking robot although parameters of a dynamical model of the dynamic biped walking robot are perturbed trebly. The method provided by the invention improves stability and robustness of dynamic walking of the dynamic biped robot.

Description

technical field [0001] The invention relates to the technical field of a dynamic biped walking robot, in particular to a robust control method for a dynamic biped walking robot. Background technique [0002] With the enhancement of human beings' ability to detect deep sea, deep space and deep ground, it is impossible to realize deep sea, deep space and deep ground detection solely relying on human beings. Therefore, people have developed robots adapted to various functions to assist human beings to complete these impossible tasks. completed tasks. Due to the complexity of external working condition information or the real-time perturbation of internal parameters, the dynamic biped walking robot will produce an unstable walking gait. Therefore, people hope that the dynamic biped walking robot can better deal with disturbances and achieve efficient and stable working conditions. . Professor Grizzle of the University of Michigan first proposed the idea of ​​hybrid zero dynami...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张可韩载道
Owner CHONGQING UNIV
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