现代电子技术2024，Vol.47Issue(11)：93-98,6.DOI:10.16652/j.issn.1004-373x.2024.11.016
基于辅助变量的终端阻抗滑模六足机器人足端控制
Auxiliary variable based terminal sliding mode impedance control for hexapod robot feet
摘要
Abstract
In order to cope with the problem of feet force/position tracking control of the hexapod robot in complex environments,an auxiliary variable based terminal sliding mode impedance control for hexapod robot feet is proposed to achieve stable movement of the hexapod robot in complex environments.The generalized impedance model is adopted to dynamically adjust the position and force of the hexapod robot feet in complex environments.The terminal sliding mode control method is introduced to improve the robustness of the system and the convergence of foot force/position tracking error.The dynamic compensator and novel auxiliary variables are designed to construct a bridge,so as to establish a compound control framework that integrates terminal sliding mode control with generalized impedance control.The stability of the controller is proved by Lyapunov theory.Finally,the simulation results on the three-degree-of-freedom(3-DOF)mechanical leg model of the hexapod robot are contrasted with the sliding mode impedance control(SMIC)method.The simulation results show that the proposed control method has higher feet force/position tracking accuracy and faster tracking error convergence speed than the SMIC method combined with the linear sliding mode surface.关键词
六足机器人/力控制/位置控制/鲁棒性/不确定性/跟踪控制/柔顺性/阻抗控制Key words
hexapod robot/force control/position control/robustness/uncertainty/tracking control/flexibility/impedance control分类
信息技术与安全科学引用本文复制引用
文俊,马瑞梓..基于辅助变量的终端阻抗滑模六足机器人足端控制[J].现代电子技术,2024,47(11):93-98,6.基金项目
国家自然科学基金项目(62003320) （62003320）
浙江省自然科学基金项目(LY22F030012) （LY22F030012）
浙江省属高校基本科研业务费专项资金(2021YW10) （2021YW10）
