基於觀測器之適應模糊輸出迴授控制對雙足機器人的控制

Observer-Based Adaptive Fuzzy Output Feedback Control for Biped Robotic Systems

黃民榮(Min-Jung Huang)

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(2009年)

摘要

在這篇論文裡，我們對於雙足機器人系統提出一個基於觀察器之間接適應模糊輸出回授控制法則。我們使用模糊邏輯系統來近似雙足機器人未知的非線性函數。由於受控系統的狀態無法藉由量測得到，因此，我們針對受控系統狀態設計一個狀態觀察器。為了克服控制時系統的奇異性，我們使用一個正則的反矩陣來克服這個問題。基於李亞普諾夫穩定度分析來推導出所有參數適應法則及強健的控制項，系統的追蹤誤差可以收斂並且確保所有訊號在閉迴路系統是有界的。實驗的結果說明本文提出的控制法則可以保證雙足機器人系統的穩定度以及可以保持一個良好的追蹤性能。

關鍵字

雙足機器人 ； 適應模糊 ； 觀察器 ； 規則反函數

並列摘要

In this thesis, an observer-based indirect adaptive fuzzy output feedback control scheme is proposed for biped robotic system. Fuzzy logic systems are employed to approximate the biped unknown nonlinear functions. A state observer is designed for estimating the states of the plant since they are not available for measurement. In addition, we use a regularized inverse function to overcome the control singularity problem.Based on Lyapunov stability analysis, the adaptive laws can guarantee convergence of the system states and boundedness of tracking errors. The experiment results demonstrate the effectiveness and robustness of the proposed control scheme, and also maintain a good tracking performance.

並列關鍵字

biped robot ； adaptive fuzzy ； observer ； regularized inverse

參考文獻

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[5] C. Chevallereau, D. Djoudi, and J. W. Grizzle, “Stable bipedal walking with foot rotation through direct regulation of the zero moment point,” IEEE Trans. Robotics, vol. 24, no. 2, 2008.