雙足機器人系統之適應模糊控制器設計

Adaptive Fuzzy Controller Design for Biped Robotic Systems

張家豪(Chia-Hao Chang)

指導教授 ： 游文雄

大同大學/電機資訊學院/電機工程學系所/碩士(2008年)

摘要

在本篇論文裡，我們提出一個適應模糊控制器使雙足機器人系統能達到穩定追蹤目的。藉由想要達到的振幅和相位特性，我們將建立一個參考追蹤模式系統，並藉其來構成一個誤差系統，接著再建立一個模糊系統來近似未知的受控系統。這個適應模糊控制機制將同時使用兩個適應機制來更新模糊系統的權重和模糊系統的近似誤差。利用李亞普諾夫的穩定性準則，我們將證實提出的適應控制器能穩定受控系統，並且使閉迴路控制系統具有強健特性。在模擬方面，我們使用機器人的髖部和腳踝當軌跡。透過計算，我們可以得到所有連桿的幾何關係。利用連桿的幾何關係，我們可以得到所有連桿的角度變化。這些角度當作輸入應用到我們提出的控制器來作模擬。再將控制器輸出的資料，當作機器人的馬達控制的資料。然後藉由馬達控制介面輸入機器人，達到控制機器人行走。最後，透過模擬及實驗的結果，可以驗證所提出的控制器設計法則能使機器人系統的輸出具有良好的響應，且也能追蹤到預設軌跡。

關鍵字

追蹤誤差 ； 多輸入多輸出系統 ； 適應模糊控制器 ； 機器人

並列摘要

In this thesis, an adaptive fuzzy control scheme is proposed for biped robotic systems. A reference model with the desired amplitude and phase properties is given to construct an error model. A fuzzy system is used to approximate an unknown controlled system. The adaptive fuzzy control scheme uses two adaptive mechanisms, which allows for inclusion of training the weights of the fuzzy system and the approximation error estimator of the fuzzy system simultaneously. The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by using Lyapunov stability tools. In simulation, we use the robot's hip and leg trajectory. We can find the relation of geometry by computing the trajectories. Using the relation, we can get the angles of the links. We apply the angles as inputs to the propose controller for simulation. We use the data from the output of the controller for the data of the motor of the robot. By using the robot control interface, we apply the data to the robot such that make the robot walk. Finally, simulation results and experiments are given to show the effectiveness, tracking performance and robustness of the proposed control.

並列關鍵字

MIMO system ； Adaptive fuzzy controller ； Robot ； tracking error

參考文獻

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