| 被动行走机器人变路况切换控制 |
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| 引用本文： | 刘丽梅,田彦涛,李建飞,侯至丞,黄孝亮.被动行走机器人变路况切换控制[J].控制与决策,2011,26(8):1203-1208. |
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| 作者姓名： | 刘丽梅 田彦涛 李建飞 侯至丞 黄孝亮 |
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| 作者单位： | 1. 吉林大学通信工程学院工程仿生教育部重点实验室,长春130025／吉林财经大学应用数学学院,长春130117
2. 吉林大学通信工程学院工程仿生教育部重点实验室,长春,130025 |
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| 基金项目： | 国家863计划项目(2006AA04Z251); 国家自然科学基金项目(60974067); 吉林财经大学青年项目(2009Q11) |
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| 摘 要： | 针对路面坡度变化后，如何使被动行走机器人在有限时间内只需一步即可完成低能耗的行走模式转换问题，提出一种控制策略．首先基于胞映射思想，提出了估计机器人稳定行走初始状态的变胞胞映射法；然后利用Lyapunov稳定性理论和鲁棒控制思想，设计了变路况切换控制算法．该算法既能实现不同坡度路面上稳定行走模式的转换，又能提高转换过程的鲁棒性．仿真结果验证了所提出算法的有效性．
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| 关 键 词： | 被动行走机器人 切换控制 变胞胞映射 有限时间 极限环 |
| 收稿时间： | 2010/5/11 0:00:00 |
| 修稿时间： | 2010/7/14 0:00:00 |
Switch control between different slopes for passive dynamic walker |
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| LIU Li-mei,TIAN Yan-tao,LI Jian-fei,HOU Zhi-cheng,HUANG Xiao-liang.Switch control between different slopes for passive dynamic walker[J].Control and Decision,2011,26(8):1203-1208. |
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| Authors: | LIU Li-mei TIAN Yan-tao LI Jian-fei HOU Zhi-cheng HUANG Xiao-liang |
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| Affiliation: | LIU Li-mei~(1a,2),TIAN Yan-tao~1,LI Jian-fei~(1a),HOU Zhi-cheng~(1a),HUANG Xiao-liang~(1a) (1a.School of Communication Engineering,1b.Key Laboratory of Bionic Engineering of Ministry of Education,Jilin University,Changchun 130025,China,2.School of Applied Mathematics,Jilin University of Finance and Economics,Changchun 130117,China. |
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| Abstract: | Concerning the change of slopes,a control strategy is proposed to make the passive dynamic walker realize the switch of walking mode with low energy dissipation in finite time.The alter cell to cell mapping method based on cell mapping theory is proposed to estimate the initial state of the stable gaits.Then the switch controller between different slopes is designed based on Lyapunov stability theory and robust control theory.This controller can accomplish the switch between different gaits for different sl... |
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| Keywords: | passive dynamic walker switch control alter cell to cell mapping finite time limit cycle |
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