Design and analysis of active disturbance rejection control system for under actuation walking robot
1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang, Jiangsu 212003, China
Abstract：Passive dynamic walker has local stability with walking cycle converging to a fixed point on the slope， and in other circumstances, the stabilization of walking cycle is broken to result in unstable walking .An under actuated walking robot was designed and developed to solve the problem. To improve the walking ability, an active disturbance rejection control system was proposed for the under actuated walking robot based on human parameters. Combining the under actuated walking theory and based on multichannel ADRC method， the fixed point was used as system input state variables to achieve decoupling control and walking. The proposed control system was modeled and analyzed by Simulink. The results show that the robot can simply and effectively achieve under actuated walking by the control system. Under external disturbance, every original state of walking cycle can also be limited in acceptable range. The robustness performance of robot system is improved drastically.
费蓝冰, 楼飞, 缪国斌. 欠驱动步行机器人自抗扰控制系统的设计与分析[J]. 江苏大学学报（自然科学版）, 2016, 37(5): 541-547.
FEI Lan-Bing, LOU Fei, MIAO Guo-Bin. Design and analysis of active disturbance rejection control system for under actuation walking robot[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2016, 37(5): 541-547.
2016, Vol. 37 
