| 基于单神经元控制器的独轮自平衡机器人双闭环自适应控制 |
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| 引用本文： | 王启源,阮晓钢,于乃功.基于单神经元控制器的独轮自平衡机器人双闭环自适应控制[J].信息与控制,2012,41(2):129-135. |
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| 作者姓名： | 王启源 阮晓钢 于乃功 |
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| 作者单位： | 北京工业大学,北京,100124 |
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| 基金项目： | 国家863计划资助项目(2007AA04Z226);国家自然科学基金资助项目(60774077);北京市自然科学基金资助项目(4102011) |
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| 摘 要： | 针对竖直飞轮的独轮自平衡机器人系统,提出了一种基于自适应单神经元控制的双闭环(DLSN)控制方法.根据对独轮自平衡机器人动力学模型的分析,将独轮自平衡机器人分成两个子系统,提出了一种具有俯仰倾角和横滚倾角内环、前向位移外环的双闭环自适应控制结构,其中每个控制环均由单神经元自适应控制器构成.仿真实验结果表明:所设计的基于双闭环单神经元自适应独轮自控制方法是有效的.
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| 关 键 词： | 独轮自平衡机器人 运动平衡控制 单神经元控制 自适应控制 |
Dual-Loop Adaptive Control for Single-Wheeled Self-Balancing Robot Based on Single Neuron Controller |
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| WANG Qiyuan
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RUAN Xiaogang
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YU Naigong.Dual-Loop Adaptive Control for Single-Wheeled Self-Balancing Robot Based on Single Neuron Controller[J].Information and Control,2012,41(2):129-135. |
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| Authors: | WANG Qiyuan RUAN Xiaogang YU Naigong |
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| Affiliation: | (Beijing University of Technology,Beijing 100124,China) |
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| Abstract: | A dual-loop and single-neuron-based(DLSN) adaptive control method is proposed for single-wheeled selfbalancing robot with a vertical wheel.According to the analysis of the dynamics model of single-wheeled robot,the singlewheeled self-balancing robot is divided into two subsystems.A dual-loop adaptive control structure is proposed which has roll tilt inner control loop,pitch tilt inner control loop and forward shifting outer control loop.Every control loop is composed of adaptive single neuron controllers.The simulation experiments are conducted to illustrate the effectiveness of the DLSN adaptive control method. |
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| Keywords: | single-wheeled self-balancing robot motion balance control single neuron control adaptive control |
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