文章基本信息

标题：Robust control method for bionic gait of machine legs based on time delay feedback
本地全文：下载
作者：Lu Xing-Hua ; Huang Peng-Fen ; Huang Wei-Peng 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：173
DOI：10.1051/matecconf/201817302009
语种：English
出版社：EDP Sciences
摘要：The bionic machine leg is disturbed by the joint during the walking process, which is easy to produce time delay, which causes the robustness of the control of the machine leg is not good. In order to improve the robustness of the bionic gait control of the machine leg, a robust control method for the bionic gait of the machine leg based on time - delay feedback is proposed. The gait correlation parameters of robot leg are collected by sensor array, and the dynamic model of bionic gait is constructed. The fuzzy controller of bionic gait of robot leg is constructed by using time-delay coupling control method. The delayed feedback control error compensation method of machine leg correction is taken to improve the steady control performance of the robotic leg, reduce the steady-state error, improve the robustness of the control machine leg. The simulation results show that this method is robust to the bionic gait control of the machine leg. The output error of the gait parameter can quickly converge to zero, and the accurate estimation of the attitude parameter is stronger.