Modeling and Control of a Wheeled Biped Robot

被引：8
作者：
Cui, Zemin [1 ]
Xin, Yaxian [2 ]
Liu, Shuyun [3 ]
Rong, Xuewen [1 ]
Li, Yibin [1 ]
机构：
[1] Shandong Univ, Sch Control Sci & Engn, Jinan 250100, Peoples R China
[2] Shandong Jiaotong Univ, Sch Rail Transportat, Jinan 250357, Peoples R China
[3] Shandong Univ, Dept Assets & Lab Management, Jinan 250100, Peoples R China
来源：
MICROMACHINES | 2022年 / 13卷 / 05期
基金：
国家重点研发计划; 中国国家自然科学基金;
关键词：
wheeled biped robot; linear quadratic regulator; model predictive control; model decoupling; MOTION CONTROL;
D O I：
10.3390/mi13050747
中图分类号：
O65 [分析化学];
学科分类号：
070302 ; 081704 ;
摘要：
It is difficult to realize the stable control of a wheeled biped robot (WBR), as it is an underactuated nonlinear system. To improve the balance and dynamic locomotion capabilities of a WBR, a decoupled control framework is proposed. First, the WBR is decoupled into a variable-length wheeled inverted pendulum and a five-link multi-rigid body system. Then, for the above two simplified models, a time-varying linear quadratic regulator and a model predictive controller are designed, respectively. In addition, in order to improve the accuracy of the feedback information of the robot, the Kalman filter is used to optimally estimate the system state. The control framework can enable the WBR to realize changing height, resisting external disturbances, velocity tracking and jumping. The results obtained by simulations and physical experiments verify the effectiveness of the framework.
引用
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页数：16
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