Earticle

초록

영어

The problem of gait planning for the quadruped search robot is described as an uncertainty discrete system. According to the basic gait elements of the quadruped search robot, the periodic gait of the robot is analyzed on the basis of gait timing diagram. The non-fragile control theory is proposed for gait planning control of quadruped search robot. A non-fragile reliable adaptive controller is designed for adaptive gait transition with the D-stability, which makes the gait planning to be regular, causal and D-stable. The condition of controller is given based on robust control theory, which include theorem 1 and theorem 2. And the approaches of designing the controller are given in terms of linear matrix inequalities. The results given by linear matrix inequalities indicate that the proposed non-fragile reliable robust controller is correct and effective.

목차

Abstract
 1. Introduction
 2. Planning of Periodic Gait
  2.1. The Low Speed Gait Model
  2.2. The Medium Speed Gait Model
  2.3. The Fast Speed Gait Model
 3. Non-fragile Reliable Adaptive Control Law with the D-stability
 4. Numerical Examples
 5. Conclusions
 Acknowledgments
 References

키워드

저자

• Wang Peng [ School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin, China ]
• Wu Jian [ School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin, China ]
• Li Jixiang [ College of Automation, Harbin University of Science and Technology, Harbin, China ]
• Zhang Yuan [ School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin, China ]
• Zhang Peng [ College of Automation, Harbin University of Science and Technology, Harbin, China ] Corresponding author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605