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首页> 外文期刊>Journal of Dynamic Systems, Measurement, and Control >Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion
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Dynamic Output Controllers for Exponential Stabilization of Periodic Orbits for Multidomain Hybrid Models of Robotic Locomotion

机译：动态输出控制器，用于多域混合模型的周期性轨道的指数稳定

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摘要

The primary goal of this paper is to develop an analytical framework to systematically design dynamic output feedback controllers that exponentially stabilize multidomain periodic orbits for hybrid dynamical models of robotic locomotion. We present a class of parameterized dynamic output feedback controllers such that (1) a multidomain periodic orbit is induced for the closed-loop system and (2) the orbit is invariant under the change of the controller parameters. The properties of the Poincare map are investigated to show that the Jacobian linearization of the Poincare map around the fixed point takes a triangular form. This demonstrates the nonlinear separation principle for hybrid periodic orbits. We then employ an iterative algorithm based on a sequence of optimization problems involving bilinear matrix inequalities to tune the controller parameters. A set of sufficient conditions for the convergence of the algorithm to stabilizing parameters is presented. Full-state stability and stability modulo yaw under dynamic output feedback control are addressed. The power of the analytical approach is ultimately demonstrated through designing a nonlinear dynamic output feedback controller for walking of a three-dimensional (3D) humanoid robot with 18 state variables and 325 controller parameters.
机译：本文的主要目标是开发一个分析框架，用于系统地设计动态输出反馈控制器，该控制器指数稳定多麦田周期性轨道，用于机器人运动的混合动态模型。我们展示了一类参数化动态输出反馈控制器，使得（1）为闭环系统引起多麦田周期性轨道，并且（2）轨道在控制器参数的变化下不变。研究了Poincare地图的性质，表明庞加勒地图周围的雅各主义线性化围绕固定点呈三角形。这证明了混合周期性轨道的非线性分离原理。然后，我们采用一种基于涉及双线性矩阵不等式的优化问题序列来调谐控制器参数的迭代算法。呈现了一组足够的条件，用于算法到稳定参数的算法。解决动态输出反馈控制下的全状态稳定性和稳定性模数偏航。通过设计用于使用18个状态变量和325控制器参数的三维（3D）人形机器人的步行的非线性动态输出反馈控制器，最终证明了分析方法的力量。

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