Robustness analysis of locomotion controllers for mechanical rectifier systems in natural oscillation

摘要

A class of feedback controllers has been proposed to achieve a desired locomotion behaviour for mechanical rectifier systems in recent work. It is inspired by a biological neuron circuit called central pattern generator and is expected to exhibit robust and adaptive abilities against system parameter uncertainties and external disturbances. The controller was originally designed in an ideal situation that system parameters such as friction coefficients were precisely known, and measurement channels and actuation circuits were noiseless. In this study, the authors conduct specific robustness analysis for the locomotion controller with respect to system parameter variations and measurement and actuation noises. The numerical study shows that the locomotion controller is able to maintain a reasonable performance under these circumstances.