脚式ロボットの外乱推定：動的ゲインによる事前規定収束
Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains
脚式ロボットの外乱推定において、動的ゲインと比較関数を組み合わせることで、外乱の上界情報なしに推定誤差の収束を事前に規定できる連続時間オンラインオブザーバを提案した。
著者: Bolin Li, Peiyuan Cai, Gewei Zuo, Lijun Zhu, Han Ding
分類: cs.RO
原文アブストラクト
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer is the integration of dynamic gains and comparison functions, which guarantees predefined convergence of the disturbance estimation error, including ultimately uniformly bounded, asymptotic, and exponential convergence, among various types. The properties of dynamic gains and the sufficient conditions for comparison functions are detailed to guide engineers in designing desired convergence behaviors. Notably, the observer functions effectively without the need for upper bound information of the disturbance or its derivative, enhancing its engineering applicability. An experimental example corroborates the theoretical advancements achieved.
