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
收藏
页码：5197 / 5202
页数：6
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