基于扩张状态观测器和模型预测方法的四足机器人抗干扰复合控制

doi:10.12382/bgxb.2023.0962

摘要/Abstract

摘要：

为提高存在模型不确定及外界扰动的情况下对四足机器人的控制效果,提出结合扩张状态观测器、二次型优化(Quadratic Programming, QP)及模型预测控制(Model Predictive Control, MPC)的复合控制算法。基于单刚体四足机器人模型,设计基于MPC的控制算法,实现对四足机器人的控制。考虑到模型及参数的不确定性,以及环境中存在的外界扰动,进一步利用变带宽非线性扩张状态观测器对机器人受到的总和扰动进行估计,并利用估计结果,设计基于QP的足端力重分配算法,实现对总和扰动的补偿。通过仿真实验验证了本文所提控制算法的有效性。仿真结果表明,在使用抗干扰复合控制方法之后,机器人在质量发生重大变化和受到外力作用下,依然可以保持良好的控制效果,与传统控制方法相比,机器人的控制精度和抗干扰能力得到了明显提升。

关键词: 四足机器人, 模型预测控制, 扩张状态观测器, 二次型优化

Abstract:

A novel composite control algorithm that combines the extended state observer, quadratic programming and model predictive control is proposed to improve the control performance of quadruped robot under model uncertainty and external disturbances. A model predictive controller is proposed for a quadruped robot based on the single rigid body model,and a variable bandwidth nonlinear extended state observer is developed to estimate the lumped disturbance, including the model mismatch and external forces. Based on the estimated result, a compensator is further constructed using the quadratic programming technique.The proposed control algorithm is validated through simulation. The simulated results demonstrate that the anti-disturbance composite controller is used to allow the robot to achieve the satisfactory control performance under the conditions of the changes in mass and the application of external forces. In comparison to existing studies, the proposed controller exhibits significant improvements in control accuracy and disturbance rejection capabilities.

Key words: quadruped robot, model predictive control, extended state observer, quadratic programming

中图分类号:

TJ301

许鹏, 邢伯阳, 刘宇飞, 李泳耀, 曾怡, 郑冬冬. 基于扩张状态观测器和模型预测方法的四足机器人抗干扰复合控制[J]. 兵工学报, 2023, 44(S2): 12-21.

XU Peng, XING Boyang, LIU Yufei, LI Yongyao, ZENG Yi, ZHENG Dongdong. Anti-disturbance Composite Controller Design of Quadruped Robot Based on Extended State Observer and Model Predictive Control Technique[J]. Acta Armamentarii, 2023, 44(S2): 12-21.

图/表 9

图1 简化的四足机器人

Fig.1 A simplified quadruped robot

图2 系统整体控制框架

Fig.2 System control framework

图3 机器人所受到外力大小

Fig.3 External force applied to the robot

图4 扰动加速度估计结果

Fig.4 Estimated results of the acceleration disturbances

图5 扰动角加速度估计结果

Fig.5 Estimated results of the angular acceleration disturbances

图6 机器人横滚角

Fig.6 Roll angle of robot

图7 机器人偏航角

Fig.7 Yaw angle of robot

图8 世界坐标系下机器人横向位置

Fig.8 Lateral position of robot in the world frame

图9 机器人机身高度

Fig.9 Height of robotbody

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