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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Locomotion Control of a Hydraulically Actuated Hexapod Robot by Robust Adaptive Fuzzy Control with Self-Tuned Adaptation Gain and Dead Zone Fuzzy Pre-compensation
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Locomotion Control of a Hydraulically Actuated Hexapod Robot by Robust Adaptive Fuzzy Control with Self-Tuned Adaptation Gain and Dead Zone Fuzzy Pre-compensation

机译：自适应增益和死区模糊预补偿的鲁棒自适应模糊控制在液压六足机器人运动控制中的应用

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摘要

Hydraulically actuated robotic mechanisms are becoming popular for field robotic applications for their compact design and large output power. However, they exhibit nonlinearity, parameter variation and flattery delay in the response. This flattery delay, which often causes poor trajectory tracking performance of the robot, is possibly caused by the dead zone of the proportional electromagnetic control valves and the delay associated with oil flow. In this investigation, we have proposed a trajectory tracking control system for hydraulically actuated robotic mechanism that diminishes the flattery delay in the output response. The proposed controller consists of a robust adaptive fuzzy controller with self-tuned adaptation gain in the feedback loop to cope with the parameter variation and disturbances and a one-step-ahead fuzzy controller in the feed-forward loop for hydraulic dead zone pre-compensation. The adaptation law of the feedback controller has been designed by Lyapunov synthesis method and its adaptation rate is varied by fuzzy self-tuning. The variable adaptation rate helps to improve the tracking performance without sacrificing the stability. The proposed control technique has been applied for locomotion control of a hydraulically actuated hexapod robot under independent joint control framework. For tracking performance of the proposed controller has also been compared with classical PID controller, LQG state feedback controller and static fuzzy controller. The experimental results exhibit a very accurate foot trajectory tracking with very small tracking error with the proposed controller.
机译：液压致动的机器人机构由于其紧凑的设计和大的输出功率而在现场机器人应用中变得越来越流行。但是，它们在响应中表现出非线性，参数变化和奉承延迟。这种奉承延迟，通常会导致机器人的轨迹跟踪性能变差，可能是由比例电磁控制阀的死区以及与油流相关的延迟引起的。在这项研究中，我们提出了一种用于液压致动机器人机构的轨迹跟踪控制系统，该系统可减少输出响应中的奉承延迟。所提出的控制器包括一个鲁棒的自适应模糊控制器，该自适应模糊控制器在反馈回路中具有自调整的自适应增益，以应对参数变化和干扰;在前馈回路中具有一个用于液压死区预补偿的单步提前模糊控制器。 。通过Lyapunov综合方法设计了反馈控制器的自适应律，并通过模糊自整定来改变其自适应率。可变的自适应速率有助于在不牺牲稳定性的情况下提高跟踪性能。所提出的控制技术已被应用于独立联合控制框架下的液压致动六足机器人的运动控制。为了跟踪性能，该控制器还与经典PID控制器，LQG状态反馈控制器和静态模糊控制器进行了比较。实验结果表明，所提出的控制器具有非常精确的脚轨迹跟踪和很小的跟踪误差。

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