适应性固定时间快速终端滑动模式控制器的设计,用于由气动人工肌肉驱动的多链路机器人
Hesam Khajehsaeid1, Ali Soltani2, Vahid Azimirad3
1Warwick Manufacturing Group, The University of Warwick, Coventry CV4 7EQ, UK.
Biomimetics (Basel, Switzerland)
|January 24, 2025
概括
一个新的连续力学模型准确地预测了气动人工肌肉 (PAM) 的行为. 这种模型可以为PAM驱动的机器人提供先进的控制,实现比现有方法更快,更精确的运动.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 生物模拟学和人工启动
- 机械工程 机械工程
背景情况:
- 气动人造肌肉 (PAMs) 提供了符合规定的高强度与重量比的启动,模仿生物肌肉.
- 在机器人和假肢方面,PAM至关重要,但准确的建模和控制仍然具有挑战性.
- 快速的通货膨胀/通货紧缩允许快速执行,需要精确的控制策略.
研究的目的:
- 开发基于连续力学模型,用于预测PAM输出参数,特别是执行力.
- 使用开发的 PAM 模型,推导出多链 PAM 执行机器人操纵器的动态模型.
- 提出和评估一种先进的自适应控制策略,用于在PAM驱动操纵器中精确的轨迹跟踪.
主要方法:
- 一个基于连续力学的模型被开发来预测PAM力,与实验数据进行验证.
- 由PAMs驱动的多链路机器人操纵器的动态模型得到了衍生.
- 提出并模拟了一个自适应的固定时间快速终端滑动模式控制.
主要成果:
- 连续力学模型准确地预测了PAMs的机械行为.
- 模拟表明,拟议的自适应控制器的性能优于自适应后退控制器.
- 拟议的控制器实现了更快的融合和更精确的追踪所需的联合轨迹.
结论:
- 开发的连续力学模型提供了有效的PAM行为预测.
- 拟议的自适应性固定时间快速终端滑动模式控制有效地管理PAM驱动系统中的不确定性和干扰.
- 这项工作推进了使用气动人工肌肉来提高性能的机器人系统的控制.
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