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从受完整约束和非完整约束的腾空相到仅受完整约束的站立相,利用空间浮动基,分阶段建立了类人机器人非规则运动-跳跃运动通用动力学模型;基于Lynapunov方法设计自适应率,研究了跳跃机器人模糊自适应轨迹跟踪控制,保证跟踪收敛和闭环系统的渐进稳定。仿真研究表明,跳跃机器人通用动力学模型为空间机器人建模提供参考;模糊自适应与计算力矩混杂模型轨迹跟踪控制改善了系统自适应性,丰富了非规则运动的姿态控制和稳定性分析方法。
From the vacant phase of the complete and the nonholonomic constraints to the standing phase of the complete constraint, the generic dynamic model of the humanoid robot’s irregular motion-jump motion is established in stages by using the space floating base. The adaptive rate is designed based on the Lynapunov method , The fuzzy adaptive trajectory tracking control of jumping robot is studied to ensure the tracking convergence and the gradual stability of the closed-loop system. The simulation results show that the universal dynamic model of jumping robot provides a reference for the modeling of space robot, and the fuzzy adaptive and computational torque hybrid model trajectory tracking control improves the system adaptability and enriches the attitude control and stability analysis of irregular motion.