Active Disturbance Rejection Control of Single Wheel Robot - 文章详情页

作者：

Ruan, Xiaogang (Ruan, Xiaogang.) | Wang, Xu (Wang, Xu.) | Zhu, Xiaoqing (Zhu, Xiaoqing.) | Chen, Zhigang (Chen, Zhigang.) | Sun, Rongyi (Sun, Rongyi.)

收录：

CPCI-S

摘要：

With　only　one　contact　point　with　ground,　the　balance　control　problem　of　Single　wheel　robot　(SWR)　is　still　a　big　challenge　for　researchers.　In　this　paper,　a　new　nonlinear　control　algorithm-ADRC　(active　disturbance　rejection　control　technique)　was　proposed.　The　integration　simulation　by　ADAMS　and　MATLAB　of　flywheel　balanced　SWR　is　presented.　The　integrated　platform　provides　an　avenue　for　developing　a　mechatronics　system　without　the　need　of　building　mathematical　model.　The　simulation　results　verified　the　robustness　of　the　proposed　ADRC　method　on　the　control　of　SWR.

关键词：

ADAMS ADRC (active disturbance rejection control technique) Robustness Single Wheel Robot

作者机构：

[ 1 ] [Ruan, Xiaogang]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
[ 2 ] [Wang, Xu]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
[ 3 ] [Zhu, Xiaoqing]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
[ 4 ] [Chen, Zhigang]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China
[ 5 ] [Sun, Rongyi]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China

通讯作者信息：

[Ruan, Xiaogang]Beijing Univ Technol, Sch Elect Informat & Control Engn, Beijing 100022, Peoples R China

电子邮件地址：

adrxg@bjut.edu.cn |
wangxus@emails.bjut.edu.cn |
zhuxiaoqing@emails.bjut.edu.cn |
chenzhigang@emails.bjut.edu.cn |
sunrongyi@emails.bjut.edu.cn

查看成果更多字段

成果类型
所属机构

所有年份指定年份从至