Finite-time robust trajectory tracking control for the underactuated biped robot based on Poincar#x00E9;-like-alter-cell-to-cell mapping method

摘要

Poincaré-like-alter-cell-to-cell mapping method is proposed to search for the tracking target point, when the slope of the ground or the structure parameters of the underactuated biped robots have changed. The finite-time robust trajectory tracking control strategy is designed to make the states of the system reach the tracking target point in finite time. This control strategy is based on the theory of Lyapunov stability and the characteristics of the system. And this control strategy can make the error be bounded in terminal value under the condition of external uncertain disturbance, otherwise be zero. The simulation tests show that the finite-time robust trajectory tracking controller is effective. The stable gait of the underactuated biped robots with external disturbances generates easily, when the poincaré-like-alter-cell-to-cell mapping method is combined with the control strategy proposed in this paper. The stability and robustness of the gaits can be improved.