Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot | |
Su Y(苏赟)1,2,3; Wang T(王挺)2,3; Zhang K(张凯)2,3; Yao C(姚辰)2,3; Wang ZD(王志东)4 | |
刊名 | IEEE Access |
2020 | |
卷号 | 8页码:3751-3760 |
关键词 | Adaptive control center of gravity compensation nonlinear controller parameter adjustment self-balancing robot |
ISSN号 | 2169-3536 |
产权排序 | 1 |
英文摘要 | We previously developed a novel composite wheel-leg-track explosive ordnance disposal (EOD) robot with high mobility, able to switch between a track or a self-balancing motion mode according to environmental conditions, named Scorpio. In this paper, we propose an adaptive nonlinear control algorithm for improving the stability of the robot in the self-balancing mode. First, a model of the dynamics of the robot was established, with which we designed the nonlinear cascade controller for combined balance and motion control. With our system, the attitude of the robot is estimated using a Kalman filtering algorithm. Based on this, an adaptive adjustment algorithm amends the parameters of the controller in real time according to the state of the robot, for improved stability. In addition, we formulated an adaptive zero-offset angle identification algorithm to compensate for deviations caused by changes to the robot's center of gravity (due to changes to its mechanical structure), ensuring that this stability could be maintained. Results of experiments conducted to verify their operation show that self-balancing control of Scorpio can be achieved with the proposed algorithms. |
资助项目 | National Key Research and Development Program of China[2017YFC0822201] ; National Key Research and Development Program of China[2017YFC0822203] |
WOS关键词 | WHEELED INVERTED-PENDULUM ; MOBILE ; DESIGN ; STABILIZATION ; VELOCITY |
WOS研究方向 | Computer Science ; Engineering ; Telecommunications |
语种 | 英语 |
WOS记录号 | WOS:000549765100002 |
资助机构 | National Key Research and Development Program of China under Grant 2017YFC0822201 and Grant 2017YFC0822203. |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/26223] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Su Y(苏赟) |
作者单位 | 1.Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 4.Department of Advanced Robotics, Chiba Institute of Technology, Chiba, Japan |
推荐引用方式 GB/T 7714 | Su Y,Wang T,Zhang K,et al. Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot[J]. IEEE Access,2020,8:3751-3760. |
APA | Su Y,Wang T,Zhang K,Yao C,&Wang ZD.(2020).Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot.IEEE Access,8,3751-3760. |
MLA | Su Y,et al."Adaptive Nonlinear Control Algorithm for a Self-Balancing Robot".IEEE Access 8(2020):3751-3760. |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论