Gain Scheduling Control of Wheel-Legged Robot LPV system Based on HOSVD

被引：0

作者：

Li, Jiachen ^{[1
]}

Zhou, Haitao ^{[1
]}

Feng, Haibo ^{[1
]}

Zhang, Songyuan ^{[1
]}

Fu, Yili ^{[1
]}

机构：

[1] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年

关键词：

LPV; HOSVD; Gain scheduling; Wheel-legged robot; MODEL;

D O I：

10.1109/icma.2019.8816261

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Linear Parameter Varying (LPV) system shows preferable performance in dealing with NonLinear (NL) systems and systems with time-varying parameters, based on a kind of wheel-legged robot with two-wheel and balance as Inverted Pendulum, this paper proposes a gain scheduling control method for balancing using LPV system on Equivalent model with Center Of Mass (COM). In order to ensure the stability and responsive of the system with possible values for all variable parameters, Higher Order Singular Value Decomposition (HOSVD) is used for constructing polytopic LPV system, then the robust controller is designed for the vertex systems forthputting Linear Matrix Inequality (LMI) approach, and the gain scheduling controller for global system is obtained by convex combination of vertex LTI systems. The simulation results show that the system can achieve the expected indicators.

引用

页码：2487 / 2492

页数：6

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