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首页> 外文会议>Autonomous Robots and Agents, 2009 4th International Conference on; Wellington,New Zealand >Finite-time robust trajectory tracking control for the underactuated biped robot based on Poincaré-like-alter-cell-to-cell mapping method
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Finite-time robust trajectory tracking control for the underactuated biped robot based on Poincaré-like-alter-cell-to-cell mapping method

机译：基于庞加莱-像元-像元-像元映射方法的欠驱动两足机器人的有限时间鲁棒轨迹跟踪控制

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摘要

Poincaré-like-alter-cell-to-cell mapping method is proposed to search for the tracking target point, when the slope of the ground or the structure parameters of the underactuated biped robots have changed. The finite-time robust trajectory tracking control strategy is designed to make the states of the system reach the tracking target point in finite time. This control strategy is based on the theory of Lyapunov stability and the characteristics of the system. And this control strategy can make the error be bounded in terminal value under the condition of external uncertain disturbance, otherwise be zero. The simulation tests show that the finite-time robust trajectory tracking controller is effective. The stable gait of the underactuated biped robots with external disturbances generates easily, when the poincaré-like-alter-cell-to-cell mapping method is combined with the control strategy proposed in this paper. The stability and robustness of the gaits can be improved.
机译：当地面坡度或欠驱动的两足机器人的结构参数发生变化时，提出一种类似庞加莱的单元格到单元格映射方法来搜索跟踪目标点。设计了有限时间鲁棒轨迹跟踪控制策略，以使系统的状态在有限时间内达到跟踪目标点。该控制策略基于Lyapunov稳定性理论和系统特性。并且这种控制策略可以使误差在外部不确定干扰的情况下限制在最终值内，否则为零。仿真实验表明，有限时间鲁棒轨迹跟踪控制器是有效的。当类似庞加莱的单元到单元映射方法与本文提出的控制策略结合时，带有外部干扰的欠驱动两足机器人容易产生稳定的步态。步态的稳定性和鲁棒性可以得到改善。

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