类Lyapunov理论在类人形机器人任务空间内跟踪的应用

考虑了类人形机器人的各种不确定因素,提出了其手臂控制的新方法.基于类Lyapunov方法,设计出具有鲁棒性功能的任务空间控制器.该方法得到的控制器不但在有限确定时间内达到稳定跟踪,而且不需要雅可比矩阵求逆,对一定类型的外部干扰具有鲁棒性功能.最后通过数值仿真显示了所得结果的有效性及其应用方法.

A new method for the arm control of a humanoid robot is proposed under the consideration of many uncertain factors.Based on Lyapunov-like methodology,controllers in task space were constructed which had a robust effect.Being different from common results,the obtained controllers not only guarantee tracking stability within a finite prescribed time,but also need not solve the inverse of Jacobian matrix and achieve robustness with respect to a class of bounded disturbance.Finally,numerical simulation results were given to illustrate the proposed methods.

国家"十五""863"资助项目(2001AA422170).