二足機器人之模式追隨適應模糊控制器設計

Model Following Adaptive Fuzzy Control Design for a Biped Robot

張凱勝(Kai-Sheng 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

在本論文要探討一個適應模糊控制器針對於這個多輸入多輸出參數未知的二足機器人。對於控制機構去追縱一個追蹤軌跡的目的去建立一個適應模糊控制器從依據一些適應法則及時調整參數的 IF-THAN 規則的模糊集合。使用模糊邏輯系統去近似雙足機器人的非線性系統函數然而提出適應法則即時調整模糊控制器的參數。然後由使用Lyapunov的穩定性方法來證實這個所提出來的強健適應模糊控制器方法的穩定性和強健性。並由模擬的研究以及實例來驗證性能。在本篇裡的模擬研究討論兩種不同的研究。第一個研究, 我們討論系統的性能當使用不同的期望追蹤軌跡。第二個研究, 我們去追蹤對於個一個雙足機器人的連續行走的軌跡路進架構。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。在這個實驗研究, 我們將使用一個雙足行走機器人來驗證電腦模擬的結果及證實所提出來方法的效能。

關鍵字

機器人 ； 適應模糊

並列摘要

In this thesis, model following adaptive fuzzy tracking control is presented for multi-input multi-output (MIMO) biped robot.An adaptive fuzzy controller is constructed from a set of fuzzy IF-THEN rules whose parameters are adjusted on-line according to some adaptation law for the purpose of controlling the plant to track a given trajectory. The fuzzy logic systems are used to approximate the unknown nonlinear system functions of biped robot while the adaptive law is proposed to adjust the parameters of the fuzzy controller on-line.The stability and robustness properties of the proposed adaptive fuzzy control scheme are established by using Lyapunov stability tools. The performance of the proposed control scheme is verified by computer simulation and experimental studies.The simulation studies discuss two kind of cases in this thesis.The first case is to discuss the system performance using different desired trajectories. The second case is to track a series trajectory plans of walking for the biped robot.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, we will use a biped walking robot to verify the simulation results and effectiveness of the proposed method.

並列關鍵字

adaptive fuzzy ； robot

參考文獻

[1] S. Tzafestas, M. Raibert and C. Tzafestas, “Robust sliding-mode control applied to a 5-Link biped robot,” Journal Intellgent and Robotic Systems pp.

67-133, 1996.

biped robots: Analysis via systems with mpulse effects,” IEEE Trans. Automat

Contr, vol. 46, pp. 51-64, 2001.

[4] E. Westervelt, J. Grizzle, and C. Canudas-de-Wit, “Switching and PI control of walking motions of planar biped walkers,” IEEE Trans. Automat Contr, vol. 48, no. 2, pp. 308-312, 2003.