自然科学版 英文版
自然科学版 英文版
自然科学版 英文版

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中南大学学报(英文版)

Journal of Central South University

Vol. 27    No. 9    September 2020

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Robust force tracking control via backstepping sliding mode control and virtual damping control for hydraulic quadruped robots
SHEN Wei(沈伟)1, 2, Lü Xiao-bin(吕晓斌)1, MA Chen-jun(马琛俊)3

1. Department of Mechatronics Engineering, University of Shanghai for Science and Technology,Shanghai 200093, China;
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University,
Hangzhou 310000, China;
3. Libin Technology R&D Center, Shanghai Electric Hydraulic & Pneumatics Co., Ltd.,
Shanghai 200237, China

Abstract:In order to improve the force tracking performance of hydraulic quadruped robots in uncertain and unstructured environments, an impedance-based adaptive reference trajectory generation scheme is used. Secondly, in order to improve the robustness to environmental changes and reduce the contact force errors caused by trajectory tracking errors, the backstepping sliding mode controller is combined with the adaptive reference trajectory generator. Finally, a virtual damping control based on velocity and pressure feedback is proposed to solve the problem of contact force disappearance and stall caused by sudden environmental change. The simulation results show that the proposed scheme has higher contact force tracking accuracy when the environment is unchanged; the contact force error can always be guaranteed within an acceptable range when the environment is reasonably changed; when the environment suddenly changes, the drive unit can move slowly until the robot re-contacts the environment.

 

Key words: hydraulic quadruped robot; impedance control; backstepping sliding mode control; virtual damping control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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