太赫兹科学与电子信息学报2025，Vol.23Issue(4)：403-409,422,8.DOI:10.11805/TKYDA2023202
弹跳机器人跳跃姿态模糊自适应PID控制仿真
Simulation of fuzzy adaptive PID control for hopping posture in hopping robots
摘要
Abstract
Aiming at the problem that existing jumping robots cannot precisely control their jumping posture angles,a posture control method for jumping robots based on flywheel reaction force regulation is proposed.During the jump,the reaction force generated by the continuous rotation of the flywheel can be utilized to adjust the robot's posture angle.Each flywheel regulator is controlled using a fuzzy adaptive Proportional-Integral-Derivative(PID)controller.Compared with traditional PID controllers,fuzzy adaptive PID can more quickly adjust the robot's posture angle with smaller tracking errors.Simulation results show that,compared with traditional posture control methods,using flywheel regulation can achieve real-time control of the jumping robot's posture angle more quickly.Especially during continuous jumping,the flywheel can better absorb intermittent impact momentum,allowing the robot's posture angle to remain stable over a larger range.In future work,a physical prototype of the jumping robot will be considered for construction to conduct obstacle-crossing tests in both indoor and outdoor environments.关键词
弹跳机器人/姿态控制/模糊自适应PID/联合仿真Key words
jumping robot/attitude control/fuzzy adaptive PID/co-simulation分类
计算机与自动化引用本文复制引用
皮明,杨涛..弹跳机器人跳跃姿态模糊自适应PID控制仿真[J].太赫兹科学与电子信息学报,2025,23(4):403-409,422,8.基金项目
四川省重点研发计划基金资助项目(2024YFFK0039) （2024YFFK0039）
西南科技大学博士基金资助项目(21zx7142) （21zx7142）
