气动驱动腿自适应控制器的比较研究

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407467

M. Guihard, J. Fontaine, N. M'Sirdi

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引用次数: 11

摘要

对应用于四足动物腿的两种自适应控制策略进行了比较研究。该支腿由两个刚性连杆组成，气动执行机构驱动旋转关节。为了实现非线性控制，建立了该系统的模型。控制设计一方面基于MRAS理论，另一方面基于被动系统理论，保证了整体的渐近稳定。提出了适应律，要么基于实时执行设施的操作数量，要么基于对干扰的鲁棒性。用仿真结果对这些控制律进行了比较

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Comparative study of adaptive controllers for a pneumatic driven leg

Makes a comparative study between two adaptive control strategies applied to a leg of a quadruped. This leg is composed of two rigid links with pneumatic actuators driving rotational joints. In order to enable nonlinear control approaches, a model of this system is built. The control design is based on one hand on MRAS and on the other hand on passive system theory which ensure the asymptotic stability of the whole. Adaptation laws are proposed, grounded either on the number of operations keeping in mind real time implementation facilities, or on the robustness toward disturbances. These control laws are compared using simulation results.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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