Balancing control of a unicycle robot with double gyroscopes using adaptive fuzzy controller |
| |
| Affiliation: | 1. Part Rolling Key Laboratory of Zhejiang Province, Faculty of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, People''s Republic of China;2. State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou 310027, People''s Republic of China;2. Shenyang University of Technology, Shenyang, China |
| |
| Abstract: | This paper presents a unicycle robot which utilizes the precession effect of a double-gyroscope for lateral balancing and designs an adaptive fuzzy controller to realize the balance control according to its dynamic model. The double gyroscope structure of the unicycle robot can eliminate the pitch angle interference caused by the precession effect and improve the robot's lateral anti-interference ability. An adaptive fuzzy controller is designed based on the dynamic equations of the unicycle robot to improve its robustness. The adaptive controller part improves the anti-interference ability of the unicycle robot, and the fuzzy controller part is used as decoupling controller to reduce the interference of coupling. Simulation and experimental results to verify the anti-interference ability and decoupling effect of the designed controller. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
