Research on Slope Stability Control of Quadruped Robert Based on MPC
In view of the problems of motion instability of quadruped robot moving on an slope surface when it encounters external force and other factors that has been found during application of model predictive control algorithm,this paper proposes a method of optimizing the prediction step length of MPC controller by using the motion posture parameters of the robot measured by inertial measurement unit(IMU),improving the capacity of real-time control adjustment,introducing the fuzzy control theory into error compensation to separate the degree of error variation,and using the error compensation coefficient to realize real-time compensation of the model prediction deviation,so as to improve motion stability of the quadruped robot.Through MATLAB simulation,it is proved that after improvement,the quadruped robot is able to make stable motions on different slope surfaces,and thus verifies the effectiveness and correctness of the improved method.
Model prediction controlexternal factorsfuzzy controlMATLAB
万方数据
维普
