让不完整驱动的机器人实现周期运动同步稳定
Orbital Stabilization and Time Synchronization of Unstable Periodic Motions in Underactuated Robots
- 扩展经典线性化方法，显式建模时间不同步问题
- 结合时变LQR与滑模控制，实现轨迹稳定与时间同步
- 在六台蝴蝶机器人上验证集中与分布式控制效果
本文提出一种控制方法，用于实现欠驱动机器人系统中周期轨迹的轨道稳定与时间同步。该方法将经典的横向线性化框架拓展，显式引入时间不同步动态。为稳定所得扩展横向动力学，采用时变LQR与滑模控制相结合的策略。理论结果通过在六台蝴蝶机器人（Butterfly robots）上实施集中式与分布式控制策略的实验得到验证。
原文摘要 · Abstract (English)
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse linearization framework to explicitly incorporate time-desynchronization dynamics. To stabilize the resulting extended transverse dynamics, we employ a combination of time-varying LQR and sliding-mode control. The theoretical results are validated experimentally through the implementation of both centralized and decentralized control strategies on a group of six Butterfly robots.
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