Research on modeling and motion control of a pendulous spherical robot

被引：1

作者：

Lin, Rui ^{[1
]}

Liu, Manlu ^{[1
]}

Huo, Jianwen ^{[1
]}

Zhang, Hua ^{[1
]}

Yang, Maotao ^{[1
]}

Guo, Mingming ^{[1
]}

机构：

[1] Southwest Univ Sci & Technol, Robot Technol Used Special Environm Key Lab Sichu, Mianyang 621010, Sichuan, Peoples R China

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

关键词：

Pendulous spherical robot; Multi-body dynamics model; Active Disturbance Rejection Control technology; Motion controller design;

D O I：

10.1109/CCDC52312.2021.9601640

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the motion control problem of a disturbed spherical mobile robot, a linear and steering motion control method based on nonlinear active disturbance rejection controller(ADRC) technology is proposed. This method uses Euler-Lagrange to study the dynamic characteristics of the spherical shell, frame and pendulum of XK-I spherical robot, and establishes the coupling multi-body dynamic model of the robot. Based on the actual motion control of XK-I spherical robot, the control equations were decoupled and the linear and steering motion controllers were designed in combination with the nonlinear ADRC technology. A comparative test study of PID, variable parameters PID(VAPID) and ADRC was conducted. Simulation results show that the XK-I spherical robot ADRC controller has better anti-interference performance.

引用

页码：5197 / 5202

页数：6

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