基于二型模糊大脑情感学习控制器的双足机器人容错控制研究  

A study of fault-tolerant control for a biped robot by using a type-2 fuzzy brain emotional learning controller

作　　者：叶荣冠 郑飞杰[1] YE Rongguan;ZHENG Feijie(School of Mechanical&Electronic Engineering,Sanming University,Sanming 365004,China;College of Mechanical&Automotive Engineering,Zhaoqing University,Zhaoqing 526061,China)

机构地区：[1]三明学院机电工程学院,福建三明365004 [2]肇庆学院机械与汽车工程学院,广东肇庆526061

出　　处：《延边大学学报（自然科学版）》2021年第1期56-63,共8页Journal of Yanbian University（Natural Science Edition）

基　　金：福建省自然科学基金(2017J01777);福建省教育厅中青年教师教育科研项目(JT180503);三明学院科学研究发展基金(B201814)。

摘　　要：为提高双足机器人行走的控制精度,提出利用二型模糊大脑情感学习控制器对双足机器人进行容错控制.该方法利用控制器的非线性估计模块估计双足机器人的系统故障和建模误差信息,并由计算转矩控制器和鲁棒控制器实现容错控制以解决外部扰动引起的系统不稳定问题.利用Matlab对两个案例进行仿真结果表明,该方法在双足机器人出现系统故障和外部出现扰动的情况下,仍能良好地估计出控制器的输入值,使双足机器人正常运行.因此,该方法对提高双足机器人的容错控制精度及轨迹跟踪的可靠性具有很好的参考价值.In order to improve the control accuracy of biped robot walking,a fault-tolerant control method based on type-2 fuzzy brain emotional learning controller is proposed.The controller is used nonlinear estimation module of the controller to estimate the system fault and modeling error information of the biped robot,and implements fault-tolerant control by the computational torque controller and the robust controller to solve the problem of system instability caused by external disturbances.The simulation results of two cases using Matlab show that this method can still estimate the input value of the controller well and make the biped robot operate normally even when the biped robot has system fault and external disturbance.Therefore,this method has a good reference value for biped robots in terms of fault-tolerant control accuracy and trajectory tracking reliability.

关 键 词：二型模糊 大脑情感学习控制器 双足机器人 容错控制 外部扰动 

分 类 号：TG385.2[金属学及工艺—金属压力加工]