Research on Stability Control of Tilting Plane Motion of Quadruped Robot
When the quadruped robot moves in the inclined plane scene,the motion instability of the quadruped robot will occur.In order to solve this problem,a new error compensation strategy is proposed in MPC(Model Predictive Control)control algorithm,which can judge the current error change in the control system of quadruped robot,control error compensation and improve the motion stability of quadruped robot.Then the fractional power operation combined with the prediction step size in the prediction model is introduced to improve the regulation frequency and enhance the real-time regulation of the control system.Finally,the method is simulated by MATLAB software.The simulation results show that the proposed method can effectively solve the problem of motion instability,improve the motion accuracy obviously,and can run stably in inclined planes with different inclinations,which verifies the effectiveness and correctness of the improved method.
万方数据
维普
