Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures
期刊信息
Eksploatacja i Niezawodnosc – Maintenance and Reliability
IF：1.806
创新点
针对四足机器人水平调节控制系统，提出了一种基于多ESO的LADRC策略，提高了LADRC在故障情况下的容错能力。
提出了一种控制系统多维可靠性评估方法，并对该方法在故障条件下的可靠性进行了分析和评估。该方法可以综合考虑控制系统的稳态、暂态和时间特性，并对控制系统响应的可靠性进行评估。
Highlights
A multi-ESO based LADRC strategy for a level adjustment control system of a quadruped robot is proposed that could improve the fault tolerance of the LADRC under faults.
A multi-dimensional reliability evaluation method for control systems was provided and used to analyze and evaluate the reliability of the proposed multi-ESO method under fault conditions. The steady-state, transient and time characteristics of the control system can be comprehensively considered by this method, and the reliability of the control system response can be evaluated.
摘要
控制算法的复杂性及其对干扰和故障的脆弱性是制约复杂环境下多足移动机器人操作的主要问题。提出了一种基于多扩展状态观测器（ESO）的控制策略，以实现四足机器人在干扰和执行器故障影响下的稳定倾角控制。将多支路作为并联控制对象，加入更多的eso以提高线性自抗扰控制（LADRC）的抗扰能力。通过综合多个ESO信息，实现了腿部交互信息的相关性。该方法以LADRC为基础，具有参数整定容易、鲁棒性好、抗干扰能力强和故障能力强等优点。提出了一种控制系统可靠性评估方法。系统地分析了多ESO控制系统在腿卡死故障情况下的可靠性和控制性能。通过对四足机器人水平调节控制系统的仿真和实验，验证了该方法的抗干扰能力、可行性和实用性。
Abstract
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.
Standard single ESO LADRC control scheme.
The multi-ESO based LADRC strategy.
Main parts of a quadruped robot level adjustment control system.
Simulation results under normal conditions.
Simulation results in failure state A.
Experimental results of the multi-ESO based control strategy under normal conditions
Experimental setup.
作者简介
崔京京
北京航空航天大学博士研究生在读，系统工程专业。
目前研究方向：系统可靠性建模与仿真，自抗扰控制方法，控制系统可靠性分析等。
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