机器人2016，Vol.38Issue(2)：248-256,9.DOI:10.13973/j.cnki.robot.2016.0248
基于鲁棒建模的气动人工肌肉驱动仿生关节的轨迹跟踪控制
Trajectory Tracking Control of the Bionic Joint Actuated by Pneumatic Artificial Muscle Based on Robust Modeling
摘要
Abstract
To simply and effectively realize the trajectory tracking control of a bionic joint actuated by a single pneumatic artificial muscle (PAM), a cascaded control strategy is proposed based on the robust modeling method. Firstly, the relationship between the input voltage of the proportional directional control valve and the inner driving pressure of PAM is expressed as a nonlinear model analytically. Secondly, the nonlinear relationship between the driving pressure input of PAM and the angular position output of the bionic joint is described as a second order linear time-invariant model (LTI) accompanied with parametric perturbations, equivalently, and then the parameters of the model are identified by the robust modeling method. Then, a hybrid model is established based on the two models (the nonlinear model and the LTI model), and corresponding to it, a cascaded controller is developed, the outer loop of which is an H∞controller for the angular position tracking designed by loop-shaping design procedure (LSDP) and the inner loop is a nonlinear controller based on the feedback linearization theory for the PAM driving pressure control. Finally, the experiment is accomplished within the joint rotation range of 90◦and with the work frequency upper bound of 1.25 rad/s. And the joint with the developed cascaded controller tracks given reference trajectories with steady-state errors smaller than 2%. Results show that the trajectory tracking control of a highly nonlinear system is highly efficient using the proposed strategy in the case of relatively low work frequency.关键词
鲁棒建模/H∞控制/非线性系统/回路成形设计程序/仿生关节Key words
robust modeling/H∞control/nonlinear system/loop-shaping design procedure (LSDP)/bionic joint分类
信息技术与安全科学引用本文复制引用
王杨,张强,肖晓晖..基于鲁棒建模的气动人工肌肉驱动仿生关节的轨迹跟踪控制[J].机器人,2016,38(2):248-256,9.基金项目
国家自然科学基金（51175383）． （）
