Differential Flatness-Based Robust Control of Self-balanced Robots

被引：6

作者：

Liang, Dingkun ^{[1
]}

Sun, Ning ^{[1
]}

Wu, Yiming ^{[1
]}

Fang, Yongchun ^{[1
]}

机构：

[1] Nankai Univ, IRAIS, Tianjin Key Lab Intelligent Robot tjKLIR, Tianjin 300350, Peoples R China

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 31期

基金：

中国国家自然科学基金; 中国博士后科学基金;

关键词：

Self-balanced robot (SBR); differential flatness; active disturbance rejection control (ADRC); underactuated systems; SLIDING-MODE CONTROL; FEEDBACK-CONTROL; DESIGN; SYSTEM;

D O I：

10.1016/j.ifacol.2018.10.058

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Underactuated self-balanced robots (SBRs) can be used to implement various tasks. However, with complicated system dynamics and existing external disturbances, the control issue of SBRs is still open and challenging. In order to deal with such problems, by constructing flat outputs, this paper proposes an active disturbance rejection control (ADRC) method for SBRs both on the horizontal plane and the inclined plane, which achieves control objectives of tracking reference signals and can reject perturbations online. Additionally, the integral algebraic estimation and the generalized proportional integral (GPI) methods are applied. Finally, to verify the effectiveness of the proposed controller, numerical simulation results are provided. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：949 / 954

页数：6

共 23 条

[1] Adaptive PSO-LS-Wavelet H Control for Two-wheeled Self-balancing Scooter [J].

Azizi, Askar ;

Nourisola, Hamid ;

Sadeghi-Emamgholi, Amin ;

Naderisafa, Fahime .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2017, 15 (05) :2126-2137

[2] Design and Optimal Control of an Underactuated Cable-Driven Micro-Macro Robot [J].

Barbazza, Luca ;

Zanotto, Damiano ;

Rosati, Giulio ;

Agrawal, Sunil K. .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2017, 2 (02) :896-903

[3] Algebraic estimation and active disturbance rejection in the control of flat systems [J].

Cortes-Romero, John ;

Jimenez-Triana, Alexander ;

Coral-Enriquez, Horacio ;

Sira-Ramirez, Hebertt .

CONTROL ENGINEERING PRACTICE, 2017, 61 :173-182

[4] A Robotic Walker Based on a Two-Wheeled Inverted Pendulum [J].

da Silva, Airton R., Jr. ;

Sup, Frank C. .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2017, 86 (01) :17-34

[5] Nonlinear Disturbance Observer-Based Dynamic Surface Control of Mobile Wheeled Inverted Pendulum [J].

Huang, Jian ;

Ri, Songhyok ;

Liu, Lei ;

Wang, Yongji ;

Kim, Jiyong ;

Pak, Gyongchol .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2015, 23 (06) :2400-2407

[6] Nonlinear Optimal Control Design for Underactuated Two-Wheeled Inverted Pendulum Mobile Platform [J].

Kim, Sangtae ;

Kwon, SangJoo .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2017, 22 (06) :2803-2808

[7] Neural-Adaptive Output Feedback Control of a Class of Transportation Vehicles Based on Wheeled Inverted Pendulum Models [J].

Li, Zhijun ;

Yang, Chenguang .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2012, 20 (06) :1583-1591

[8]

Liang DK, 2016, 2016 31ST YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), P93, DOI 10.1109/YAC.2016.7804871

[9] Momentum Control of an Underactuated Flying Humanoid Robot [J].

Pucci, Daniele ;

Traversaro, Silvio ;

Nori, Francesco .

IEEE ROBOTICS AND AUTOMATION LETTERS, 2018, 3 (01) :195-202

[10]

Raffa G., 2010, Wearable Computers (ISWC), 2010 International Symposium on, P1

← 1 2 3 →