用柯西罗德模型实现绳驱连续机器人大弯曲的平滑控制
Backstepping Control of Tendon-Driven Continuum Robots in Large Deflections Using the Cosserat Rod Model
- 基于柯西罗德模型构建非线性动力学，数值求解偏微分方程
- 实验验证表明控制轨迹更平滑，响应更快，超调更小
- 对干扰和外力有强鲁棒性，适合实际复杂场景
本文研究了基于柯西罗德模型的绳驱连续机器人在大变形下的反步控制方法。连续机器人因柔性和适应性强，适用于多种场景，但其非线性动力学给建模与控制带来挑战。为此，采用柯西罗德杆理论建模以考虑显著变形，并开发数值方法求解相应的偏微分方程。以往基于柯西罗德理论的控制研究集中于滑模控制，未在大变形下进行实验验证。本文提出反步控制作为替代方案，以实现显著弯曲。数值结果通过实验验证，表明该方法在实现大变形时具有更平滑的轨迹、更短的调节时间及更低的超调量。此外，引入外力与扰动两种情形，进一步凸显反步控制的鲁棒性。
原文摘要 · Abstract (English)
This paper presents a study on the backstepping control of tendon-driven continuum robots for large deflections using the Cosserat rod model. Continuum robots are known for their flexibility and adaptability, making them suitable for various applications. However, modeling and controlling them pose challenges due to their nonlinear dynamics. To model their dynamics, the Cosserat rod method is employed to account for significant deflections, and a numerical solution method is developed to solve the resulting partial differential equations. Previous studies on controlling tendon-driven continuum robots using Cosserat rod theory focused on sliding mode control and were not tested for large deflections, lacking experimental validation. In this paper, backstepping control is proposed as an alternative to sliding mode control for achieving a significant bending. The numerical results are validated through experiments in this study, demonstrating that the proposed backstepping control approach is a promising solution for achieving large deflections with smoother trajectories, reduced settling time, and lower overshoot. Furthermore, two scenarios involving external forces and disturbances were introduced to further highlight the robustness of the backstepping control approach.
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