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Updated: Sep 13, 2025

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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滑动模式重复控制基于一个两个阶段的供应压力液压六脚机器人机器人的未知动力学估计器

Ziqi Liu1, Bo Jin2, Junkui Dong3

  • 1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China.

Biomimetics (Basel, Switzerland)
|July 25, 2025
PubMed
概括

一种新的控制方法,滑动模式重复控制与未知的动力学估计器 (SMRC + UDE),增强了重载液压六足机器人 (HHR) 的高精度联合控制. 这提高了全地形机车行驶的稳定性和效率.

关键词:
适应性强大的滑动模式控制.液压六足机器人机器人滑动模式重复控制的重复控制未知动态估计器未知动态估计器

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Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
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Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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