论文标题
由串联弹性执行器驱动的2多型人形生物下limb的二元触发滑动模式控制的应用
Application of Event-Triggered Sliding Mode Control of 2-DOF Humanoid's Lower-Limb Powered by Series Elastic Actuator
论文作者
论文摘要
本文提出了一种事件触发的滑动模式控制（SMC）方案，并结合了一种反向替代算法，用于控制由串联弹性执行器（SEA）供电的2多型类人动物的下liMB。首先，使用Euler-Lagrange理论实现了下LIMB系统的建模过程。通过获得下限的动力学方程，在机械和电透视上都可以实现海洋模型。然后，利用事件触发的SMC方法来确保系统的稳定性并消除有限的外部干扰的效果。接下来，给出了一些用于跟踪误差的假设和设计阈值，并提供了事件间时间收敛的证明。最终应用了后替态算法，以确定所需的输入控制电压信号。最后，通过一些模拟证明了这项研究的结果，以证明该方法的效率和占用。
This paper proposes an event-triggered sliding mode control (SMC) scheme combined with a backstepping algorithm for control of 2-DOF humanoid's lower-limb powered by Series elastic actuator (SEA). First, the modelling process for the lower-limb system is implemented by using the Euler-Lagrange theory. With the obtained dynamical equations of lower-limb, the model of the SEA is achieved in both mechanical and electrical perspectives. Then, the event-triggered SMC approach is utilized to ensure the system's stability and eliminate the effect of bounded external disturbance. Next, some assumptions and designed thresholds for the tracking error are given, together with the proof for the convergence of the inter-event time. The backstepping algorithm is applied in the end to determine the needed input control voltage signal. Finally, the results of this research are demonstrated through some simulations in order to prove the effi-ciency and appropriation of this method.
