Formation Control of Four-Legged Robots using Discrete-Valued Inputs
Formation Control of Four-Legged Robots using Discrete-Valued Inputs
复制标题
使用离散值输入的四足机器人编队控制
DOI：
10.1109/lcsys.2021.3088683
复制
发表时间：
2022
影响因子：
3
通讯作者：
and T. Yamasaki
中科院分区：
文献类型：
--
作者：
S. Izumi;K. Shinagawa;X. Xin;and T. Yamasaki
这封信解决了离散值输入的四足机器人的编队控制问题。四足机器人具有在非平坦地形上完成任务的潜力，而它们的位置控制是通过在特定运动之间切换来实现的，即，离散值信号这意味着现有的结果假设使用连续值的输入是不可用的。我们提出了一种解决这个控制问题的方法，结合传统的形成控制器与动态量化。所得到的反馈系统，然后分析的基础上的性能指标描述的系统之间的差异，没有量化。因此，我们可以估计量子化对系统行为的影响，并保证其稳定性。
This letter addresses a formation control problem of four-legged robots with discrete-valued inputs. Four-legged robots have the potential for completing tasks on non-flat terrains, while their position control is achieved by switching between specific movements, i.e., discrete-valued signals. This implies that existing results assuming the use of continuous-valued inputs are not available. We present a solution to this control problem by combining conventional formation controllers with dynamic quantization. The resulting feedback system is then analyzed based on a performance index describing the difference between the systems with and without quantization. As a result, we can estimate the effects of the quantization on the behavior of the system and guarantee its stability.