Nonlinear adaptive control and applications to biped robots

非线性自适应控制及其在双足机器人中的应用

• 批准号: 250311-2011
• 负责人: Liu, Xiaoping
• 金额: $ 2.04万
• 依托单位: Lakehead University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=525010
• 关键词: Nonlinear; adaptive; control; applications; biped

Some systems can be modelled by a set of ordinary differential equations, together with a set of algebraic equations, so called differential-algebraic equations (DAEs) and some by ordinary differential equations (ODEs). All physical systems contain parameters, some of which can be measured and some of which are not accessible. Even for measurable parameters, sometimes it is not an easy task to obtain the exact values. Therefore, it is of practical importance to design controllers to achieve control objectives and to design adaptive laws to estimate unknown parameters. Controllers with adaptive laws are called adaptive controllers.

一些系统可以通过一组常微分方程和一组代数方程来建模，称为微分代数方程（DAE），而另一些系统则可以通过常微分方程（ODE）来建模。 所有物理系统都包含参数，其中一些参数可以测量，而另一些参数则无法获取。即使对于可测量的参数，有时要获得精确值也不是一件容易的事情。因此，设计控制器以实现控制目标和设计自适应律以估计未知参数具有重要的实际意义。具有自适应律的控制器称为自适应控制器。