System Modelling and Controller Design of a Variable Structure Two-Wheeled Robot Using Robust Adaptive Dynamic Programming

被引：1
作者：
Zhao, Han [1 ]
Guo, Lei [1 ]
Song, Yuan [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Artificial Intelligence, Beijing 100876, Peoples R China
来源：
2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年
基金：
中国国家自然科学基金;
关键词：
Two-wheeled robot; robust adaptive dynamic programming; policy iteration; STABILIZATION;
D O I：
10.1109/CCDC55256.2022.10033602
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a variable structure two-wheeled robot is studied. First, we show the system modelling using Appell dynamics. A simplified and decoupled linear model, which describes the dynamic characteristics when the robot's rotational angle of two forks is fixed, is derived in this paper. Then, a robust controller to reject the disturbances is designed by using a learning algorithm based on robust adaptive dynamic programming methods. Finally, the simulation shows the effectiveness of our controller in stabilizing the robot and disturbance rejection.
引用
收藏
页码：3547 / 3551
页数：5
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