Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures

Cui, Jingjing; Ren, Yi; Xu, Binghui; Yang, Dezhen; Zeng, Shengkui

doi:10.17531/ein.2020.1.6

Artykuł - szczegóły

Tytuł artykułu

Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures

Autorzy

Cui Jingjing , Ren Yi , Xu Binghui , Yang Dezhen , Zeng Shengkui

Treść / Zawartość

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DOI

10.17531/ein.2020.1.6

Warianty tytułu

Analiza niezawodności strategii sterowania w oparciu o kilka obserwatorów stanu rozszerzonego ESO i jej zastosowanie w systemie kontroli regulacji poziomu czworonożnego robota w warunkach zakłóceń i uszkodzeń

Języki publikacji

Abstrakty

The complexity of control algorithms and their vulnerability to disturbances and failures are the main problems that restrict the operations of multi-legged mobile robots in more complex environments. In this paper, a multiple extended state observer (ESO) based control strategy is proposed to achieve stable tilt angle control for quadruped robots under the influence of disturbances and actuator failures. By treating the multiple legs as parallel control objects, more ESOs were added to improve the disturbance rejection ability of the linear active disturbance rejection control (LADRC). Correlation of interactive information about the legs is realized by the synthesis of multiple ESO information. Based on LADRC, this method has the advantages of easy parameter tuning, good robustness, and strong ability to cope with interference and fault conditions. A control system reliability evaluation method was proposed. The reliability and control performance of the multi-ESO based control system under leg stuck failure conditions were systematically analyzed. Simulation and experimental results for the level adjustment control system of a quadruped robot are provided to verify the disturbance rejection ability, feasibility and practicability of the proposed multi-ESO based control method.

Złożoność algorytmów sterowania oraz ich brak odporności na zakłócenia i uszkodzenia to główne czynniki ograniczające pracę wielonożnych robotów mobilnych w bardziej złożonych środowiskach. W przedstawionym artykule zaproponowano strategię sterowania wykorzystującą kilka obserwatorów stanu rozszerzonego (ESO), która pozwala na uzyskanie stabilnego kąta pochylenia robota czworonożnego w warunkach zakłóceń i uszkodzeń siłowników. Traktując każdą z nóg jako równorzędny obiekt sterowania, dodano dodatkowe ESO, co pozwoliło na poprawienie zdolności algorytmu liniowego aktywnego tłumienia zakłóceń (LADRC) do kompensacji (tłumienia) tych ostatnich. Interaktywne informacje dotyczące poszczególnych nóg korelowano poprzez syntezę danych z ESO. Zaletami omawianej metody opartej na LADRC są: łatwość dostrajania parametrów, wysoka niezawodność oraz bardzo dobra zdolność do radzenia sobie z zakłóceniami i uszkodzeniami. Zaproponowano także metodę oceny niezawodności systemu sterowania. Analizowano niezawodność i wydajność systemu opartego na kilku ESO w warunkach awarii wywołanej zablokowaniem nóg robota. Przedstawiono wyniki badań symulacyjnych i eksperymentalnych systemu sterowania regulacją poziomu robota czworonożnego, które pozwalają zweryfikować zdolność proponowanej metody do tłumienia zakłóceń, a także możliwość jej praktycznego zastosowania.

Słowa kluczowe

reliability analysis fault tolerance active disturbance rejection control (ADRC) quadruped robot

analiza niezawodności tolerancja uszkodzeń aktywne tłumienie uszkodzeń ADRC robot czworonożny

Wydawca

Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne

Czasopismo

Eksploatacja i Niezawodność

Rocznik

2020

Tom

Vol. 22, no. 1

Strony

42--51

Opis fizyczny

Bibliogr. 34 poz., rys., tab.

Twórcy

autor

Cui Jingjing

cuijingjing@buaa.edu.cn

School of Reliability and Systems Engineering Beihang University No.37 Xueyuan RD. Haidian, 100191, Beijing, China

autor

Ren Yi

renyi@buaa.edu.cn

School of Reliability and Systems Engineering Beihang University No.37 Xueyuan RD. Haidian, 100191, Beijing, China

autor

Xu Binghui

School of Reliability and Systems Engineering Beihang University No.37 Xueyuan RD. Haidian, 100191, Beijing, China
xubinghui@buaa.edu.cn

autor

Yang Dezhen

dezhenyang@buaa.edu.cn

School of Reliability and Systems Engineering Beihang University No.37 Xueyuan RD. Haidian, 100191, Beijing, China
dezhenyang@buaa.edu.cn

autor

Zeng Shengkui

zengshengkui@buaa.edu.cn

School of Reliability and Systems Engineering Beihang University No.37 Xueyuan RD. Haidian, 100191, Beijing, China

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).

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Bibliografia

Identyfikator YADDA

bwmeta1.element.baztech-26433175-46fa-45ef-8588-368f8aad52e2