| 基于最大反馈线性化的两轮机器人平衡控制 |
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| 引用本文： | 阮晓钢,武卫霞,刘航.基于最大反馈线性化的两轮机器人平衡控制[J].控制工程,2011,18(2):309-312,321. |
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| 作者姓名： | 阮晓钢 武卫霞 刘航 |
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| 作者单位： | 北京工业大学,电子信息与控制工程学院,北京,100124 |
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| 基金项目： | 国家"863计划"项目，国家自然科学基金资助项目，北京市教委和北京市自然学基金重点项目 |
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| 摘 要： | 为了对两轮直立式机器人进行平衡控制研究,首先应用一种拉格朗日方法对两轮直立式机器人系统进行动力学建模,以力矩作为模型控制输入并且考虑到了系统无滑动的非完整约束方程.求出了系统的最大相对阶并对非线性系统进行了部分反馈线性化,经过坐标变换和输出反馈得到了2个由两链积分器构成的子系统,外加3个代表系统内动态的非线性方程.根据...
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| 关 键 词： | 两轮直立式机器人 非线性系统 反馈线性化 |
Balance Control of Two-Wheeled Robot Based on Largest Feedback Linearization |
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| RUAN Xiao-gang,WU Wei-xia,LIU Hang.Balance Control of Two-Wheeled Robot Based on Largest Feedback Linearization[J].Control Engineering of China,2011,18(2):309-312,321. |
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| Authors: | RUAN Xiao-gang WU Wei-xia LIU Hang |
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| Affiliation: | RUAN Xiao-gang,WU Wei-xia,LIU Hang(College of Electronic and Control Engineering,Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | The problem makd the two wheeled mobile robot keep balance is discussed.The dynamic model of the two wheeled mobile robot is derived with motor torques as inputs while taking the nonholonomic no-slip constraints into considerations.The maximum relative degree of the system is found and the largest feedback linearization subsystem is obtained.The system is transformed into the form of two chains of integrators,plus three nonlinear equations which represents the internal dynamics of the system.A two-level con... |
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| Keywords: | two wheeled mobile robot nonlinear system feedback linearization |
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