This letter presents an adaptive control framework for the attitude control of jumping robot with time-delay estimation(TDE). For handling the uncertainties and unknown coupling of motors, voltage-based motor control was presented. Compared to the current-based control model, the voltage-based control model is more computationally simple and realistic. The proposed adaptive law was designed to compensate the error produced by TDE, without considering the threshold value of control parameters. By the stability analysis, the control framework was verified by the semi-globally uniformly ultimately bounded stability. Experiment results have been discussed and the effectiveness of the adaptive control framework have been demonstrated. The adaptive control framework can adjust the jumping robot with minimal craftsmanship and provide the natural adaptive of a control policy.

中文翻译：

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基于电压控制模型的跳跃机器人自适应时滞姿态控制

本文提出了一种采用时滞估计（TDE）的跳跃机器人姿态控制的自适应控制框架。为了处理电机的不确定性和未知耦合，提出了基于电压的电机控制。与基于电流的控制模型相比，基于电压的控制模型计算更加简单且现实。所提出的自适应律旨在补偿 TDE 产生的误差，而不考虑控制参数的阈值。通过稳定性分析，验证了控制框架的半全局一致最终有界稳定性。讨论了实验结果并证明了自适应控制框架的有效性。自适应控制框架可以用最少的技术来调整跳跃机器人，并提供控制策略的自然自适应。