Stabilization of a self-balancing robot by energy shaping

被引：0

作者：

Gandarilla, Isaac ^{[1
]}

Santibanez, Victor ^{[1
]}

Sandoval, Jesus ^{[2
]}

机构：

[1] Inst Tecnol La Laguna, Tecnol Nacl Mexico, Torreon 27000, Coahuila, Mexico

[2] Inst Tecnol La Paz, Tecnol Nacl Mexico, La Paz 23080, Bcs, Mexico

来源：

2018 XX CONGRESO MEXICANO DE ROBOTICA (COMROB) | 2018年

关键词：

MECHANICAL SYSTEMS; INTERCONNECTION;

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：

The self-balancing robot is a mobile robot that can be classified as an underactuated mechanism, systems which challenging characteristics make them interesting from the point of view of control. In this work we present the design of a control law for the stabilization of a self-balancing robot by using a method based on energy shaping that does not requires to solve partial differential equations. We also present a stability analysis that includes the demonstration of local asymptotic stability of the desired equilibrium and experimental results show the performance of the proposed control law.

引用

页数：6

共 13 条

[11]

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[12] Design and Implementation of Integral Sliding-Mode Control on an Underactuated Two-Wheeled Mobile Robot [J].

Xu, Jian-Xin ;

Guo, Zhao-Qin ;

Lee, Tong Heng .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2014, 61 (07) :3671-3681

[13]

Yuan S, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, P2437, DOI 10.1109/ICMA.2016.7558948

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