Balancing Control of a Cubical Robot Balancing on Its Corner

被引：0
|
作者：
Chen, Zhigang [1 ,2 ]
Ruan, Xiaogang [1 ,2 ]
Li, Yuan [1 ,2 ]
机构：
[1] Beijing Univ Technol, Fac Informat Technol, Beijing, Peoples R China
[2] Beijing Key Lab Computat Intelligence & Intellige, Beijing, Peoples R China
来源：
2018 IEEE 15TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2018年
基金：
北京市自然科学基金; 中国国家自然科学基金;
关键词：
cubical robot; dynamics model; Lagrangian method; active disturbance rejection control; self-balancing control;
D O I：
暂无
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 problem of balancing control of a cubical robot, this paper makes a research on the balancing control of a cubical robot balancing on its corner. Using the physical prototype of cubical robot we designed as the research object, the dynamic model is derived with Lagrangian method. A balancing controller is proposed base on a nonlinear control method-active disturbance rejection control (ADRC). There are three ADRC controllers in pitch, roll and yaw direction. The internal and external disturbance of the system are regarded as the total disturbances of the ADRC controller. The effectiveness of the controller is verified in the comparison with PID algorithm with the obtained expect effect. The controller developed can provide a base for further study for balancing control of a physical prototype cubical robot.
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页码：631 / 636
页数：6
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