VELOCITY CONTROL FOR A MULTI-DOF TWO-WHEEL INVERTED PENDULUM ROBOT

被引：0
|
作者：
Gao, Xueshan [1 ]
Liu, Yubai [1 ]
Jiang, Shigong [1 ]
Dai, Fuquan [2 ]
机构：
[1] Beijing Inst Technol, Electromech Coll, 5 Zhongguancun South St, Beijing, Peoples R China
[2] Fujian Inst Technol, Electromech Coll, 3 Xueyuan St, Fujian, Peoples R China
来源：
ASSISTIVE ROBOTICS | 2016年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
Two-wheel inverted pendulum (TWIP) robots attract public attention as environmentally-friendly products for personal transportation in recent years. This paper presents a multi DOF TWIP(MD-TWIP) robot to balance its structure as well as sliding and swinging mechanisms. To fulfill the trajectory planning task, we proposed a robust controller based on the sliding mode theory for equilibrium control. In addition, a velocity control strategy is also introduced based on the T-S fuzzy controller to achieved good results in robot motion. Results are verified in ADAMS and MATLAB platforms simultaneously. Furthermore, the proposed control strategy is implemented on a practical self-designed physical TWIP robot model.
引用
收藏
页码：510 / 517
页数：8
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