Martínez-Fonseca Nadhynee, Castañeda Luis Ángel, Uranga Agustín, Luviano-Juárez Alberto, Chairez Isaac
Department of Bioprocessess UPIBI-IPN, Av. Acueducto S/N Col., Barrio La Laguna Ticomán, C.P. 07340 México, D.F., Mexico.
Instituto Politécnico Nacional - UPIITA Av. IPN 2580 Col., Barrio La Laguna Ticomán D.F. México, Mexico.
ISA Trans. 2016 May;62:276-86. doi: 10.1016/j.isatra.2016.02.003. Epub 2016 Feb 28.
This study addressed the problem of robust control of a biped robot based on disturbance estimation. Active disturbance rejection control was the paradigm used for controlling the biped robot by direct active estimation. A robust controller was developed to implement disturbance cancelation based on a linear extended state observer of high gain class. A robust high-gain scheme was proposed for developing a state estimator of the biped robot despite poor knowledge of the plant and the presence of uncertainties. The estimated states provided by the state estimator were used to implement a feedback controller that was effective in actively rejecting the perturbations as well as forcing the trajectory tracking error to within a small vicinity of the origin. The theoretical convergence of the tracking error was proven using the Lyapunov theory. The controller was implemented by numerical simulations that showed the convergence of the tracking error. A comparison with a high-order sliding-mode-observer-based controller confirmed the superior performance of the controller using the robust observer introduced in this study. Finally, the proposed controller was implemented on an actual biped robot using an embedded hardware-in-the-loop strategy.
本研究解决了基于干扰估计的双足机器人鲁棒控制问题。主动干扰抑制控制是通过直接主动估计来控制双足机器人所采用的范例。基于高增益类线性扩展状态观测器，开发了一种鲁棒控制器以实现干扰消除。尽管对被控对象了解不足且存在不确定性，但仍提出了一种鲁棒高增益方案来开发双足机器人的状态估计器。状态估计器提供的估计状态用于实现反馈控制器，该控制器能有效主动抑制扰动，并将轨迹跟踪误差强制到原点附近的小范围内。利用李雅普诺夫理论证明了跟踪误差的理论收敛性。通过数值模拟实现了该控制器，结果表明跟踪误差收敛。与基于高阶滑模观测器的控制器进行比较，证实了本研究中引入的鲁棒观测器的控制器具有优越性能。最后，采用嵌入式硬件在环策略在实际双足机器人上实现了所提出的控制器。
