DYNAMICS AND ADAPTIVE MOTION CONTROL OF A TWO-WHEELED INVERTED PENDULUM ROBOT

被引：3
|
作者：
Petrov, Plamen [1 ]
机构：
[1] Tech Univ Sofia, Fac Mech Engn, 8 Kl Ohridsku St, Sofia 1797, Bulgaria
来源：
COMPTES RENDUS DE L ACADEMIE BULGARE DES SCIENCES | 2018年 / 71卷 / 07期
关键词：
inverted pendulum robot; dynamic model; adaptive control;
D O I：
10.7546/CRABS.2018.07.11
中图分类号：
O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
In this paper, a dynamic model and adaptive motion controller for a two wheeled inverted pendulum robot are presented. First, a dynamic model of the robot with respect to the wheel motor torques as inputs using the Boltzmann-Hamel method in quasi-coordinates for nonholonomic systems is derived. Using estimation-based approach, an adaptive controller is designed to achieve upright balancing and steering of the robot body in the presence of parameter uncertainties. Simulation results are presented to illustrate the effectiveness of the proposed controller.
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页码：945 / 954
页数：10
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