液压四足机器人髋关节的鲁棒自适应动态面控制

液压四足机器人髋关节由伺服阀控缸系统构成,是机械腿的关键组成部分.它的控制性能直接影响着机械腿甚至机器人的运动控制精度.因为髋关节工作情况的复杂性和阀控缸系统自身的非线性,使得传统控制算法无法满足机器人运动性能指标的要求.由此,本文对液压四足机器人髋关节伺服阀控缸系统的控制方法进行了研究.首先通过对髋关节工作条件的分析完成了伺服阀控缸的数学建模,然后基于鲁棒自适应动态面的控制算法设计了伺服阀控缸系统的控制器,并从李雅普诺夫稳定判据的角度证明了系统的稳定性.最后通过Matlab与AMESim的联合仿真,对鲁棒自适应动态面与传统PID及普通动态面的控制效果做出对比,证明了所研究算法的有效性. 

Robust Adaptive Dynamic Surface Control for Hydraulic Quadruped Robot Hip Joint

Hydraulic quadruped robot hip joint is an important part of the mechanical leg which is constituted of servo valve controlled cylinder system. Its control performance affects the robot motion precision directly. Because the environment which the cylinders work in is complicated and the system is non-linear, the traditional linear control algorithm can''t meet the requirement of robot. So some researches were done on the control method of hydraulic quadruped robot hip joint servo valve controlled cylinder system. The mathematical model was created and robust adaptive dynamic surface control anthology was adoped to design the controller, then the system was proved to be stable with the Lyapunov stability criterion. Finally, the robust adaptive dynamic surface was compared with traditional PID and surface control through simulating the whole system with Matlab and AMESim in diffrent conditions, and the results prove that the method is effective.