Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking
Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking
复制标题
多域平面双足机器人行走的全局位置跟踪控制
DOI：
10.1115/dscc2019-9117
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Yan Gu
中科院分区：
文献类型：
--
作者：
Yuan Gao;Yan Gu
可靠的全局位置跟踪控制是双足机器人完成多智能体协调和动态避障等高级任务的关键。这里，机器人的全局位置指的是它在环境中的位置。针对两足机器人一般多域步态，包括完全驱动、过度驱动和欠驱动三个行走阶段（域），提出了一种可证明实现满意全局位置跟踪的控制方法。所提出的控制律的推导从混合非线性行走动力学的全阶建模开始。在全阶模型的基础上，综合了输入输出线性化控制，该控制在全驱动和过驱动域中可以实现指数型全局位置跟踪，但在欠驱动域中可能导致内部动力学失控。为了使整个混合闭环系统能够可靠地进行全局位置跟踪，采用了多重Lyapunov函数的构造，得到了所提控制律跟踪性能可证明保证的充分条件。最后，对一个平面双足机器人进行了仿真，验证了所提控制方法的有效性。
Reliable global-position tracking control is crucial for bipedal robots to perform high-level tasks such as multi-agent coordination and dynamic-obstacle avoidance. Here, a robot’s global position refers to its position in the environment. In this study, a control approach that can provably achieve satisfactory global-position tracking is proposed for bipedal robots with a general multi-domain gait, which consists of walking phases (domains) of full actuation, over actuation, and underactuation. The derivation of the proposed control law begins with full-order modeling of the hybrid, nonlinear walking dynamics. Based on the full-order model, input-output linearizing control is synthesized, which can achieve exponential global-position tracking within the fully-actuated and the over-actuated domains but may result in uncontrolled internal dynamics within the underactua-tion domain. To enable reliable global-position tracking for the overall hybrid closed-loop system, the construction of multiple Lyapunov functions is employed to derive sufficient conditions under which the tracking performance of the proposed control law can be provably guaranteed. Finally, simulations of a planar bipedal robot were performed to demonstrate the effectiveness of the proposed control approach.