拟人机器人关节空间自适应H∞位置跟踪控制

计算机工程与应用 ›› 2011, Vol. 47 ›› Issue (31): 7-11.

拟人机器人关节空间自适应H_∞位置跟踪控制

刘英卓

南京财经大学电子商务实验室，南京 210003

收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2011-11-01 发布日期:2011-11-01

Adaptive H_∞ position control for tracking in joint-space of humanoid

LIU Yingzhuo

Electronic Business Laboratory，Nanjing University of Finance & Economics，Nanjing 210003，China

Received:1900-01-01 Revised:1900-01-01 Online:2011-11-01 Published:2011-11-01

摘要/Abstract

摘要： 拟人机器人的建模和控制一直是一种开放的、富于挑战性的问题，研究了一种正交轮式移动车为载体的拟人机器人控制问题。首先建立了系统模型，据此提出一种新的基于NN的自适应H_∞位置跟踪控制器，将鲁棒非线性H_∞控制方法与模型的直接自适应神经网络技术作了自然集成。然后证明了其鲁棒稳定性，并进一步分析了控制器中的重要细节。最后仿真研究验证了该控制器的正确性和有效性。

关键词: 拟人机器人, H_∞性能, 自适应神经网络

Abstract: How to model and control a humanoid is always an open and challenging subject.This paper describes modeling and controller design for a humanoid with a holonomic omnidirectional platform consisted of three lateral orthogonal wheel assemblies.The system model is constructed.And a new neural-network-based adaptive H_∞ position tracking controller is hereby derived.The robust nonlinear H_∞ control approach and model’s direct adaptive neural network technique are integrated together naturally.Robust stability is proved.Furthermore，the key details of the controller are analyzed.A simulation study for the humanoid’s vehicle and torso is given.Simulation results indicate that the proposed controller is valid and effective.

Key words: humanoid, H_∞ performance, adaptive neural networks

刘英卓. 拟人机器人关节空间自适应H_∞位置跟踪控制[J]. 计算机工程与应用, 2011, 47(31): 7-11.

LIU Yingzhuo. Adaptive H_∞ position control for tracking in joint-space of humanoid[J]. Computer Engineering and Applications, 2011, 47(31): 7-11.