步行位置控制的NAO机器人使用基于非线性干扰观察者的固定时间终端滑动模式.
Mahmoud Farhat1, Yassine Kali2, Maarouf Saad1
1École de Technologie Supérieure, Montreal, H4R 0G3, QC, Canada.
ISA transactions
|December 27, 2023
概括
这项研究通过使用非线性干扰观察器 (NDO) 和固定时间终端滑动模式 (FTSM) 控制来提高人形机器人的行走稳定性. 基于NDO-NDO的FTSM控制器提高了跟踪性能和对干扰的稳定性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 人形机器人行走的稳定性受到复杂的非线性动力学和外部干扰的挑战.
- 现有的控制策略经常与不确定性和喋喋不休的现象作斗争.
- 纳奥机器人作为一个平台来解决这些基本的行走稳定性问题.
研究的目的:
- 引入一种新的控制策略,以提高人形机器人的行走稳定性.
- 为了解决不确定的外部干扰对机器人运动的影响.
- 为了实现NAO机器人的强大而精确的性能跟踪.
主要方法:
- 实施非线性干扰观察器 (NDO) 来估计不确定性和外部干扰.
- 设计了一种新的固定时间终端滑动模式 (FTSM) 表面,以实现快速误差收.
- 运用利亚普诺夫稳定理论来保证系统的固定时间稳定性.
- 在人形NAO机器人实时实验验证.
主要成果:
- 基于NDO的FTSM控制法证明了对不确定的干扰的稳定性.
- 拟议的控制器显著改善了行走时的跟踪性能.
- 与其他控制方法相比,观察到聊现象减少.
- 在平面和倾斜的表面上有效验证.
结论:
- 开发的基于NDO的FTSM控制策略有效地提高了人形机器人行走的稳定性.
- 该控制器在外部干扰下提供了强大的性能和改进的跟踪精度.
- 这种方法为可靠的人形机器人运动提供了一个有希望的解决方案.
相关概念视频
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