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Single wheel robot's (SWR) balance of pitch is controlled by a wheel moving back and forth, and its roll balance is hold by a wind wheel based on the air force. This structure is used as the controlled object, and the kinetic model is established. A nonlinear control method-active disturbance rejection control (ADRC) algorithm is used to control the robot's moving. There are two ADRC controllers in pitch and roll direction. The internal and external disturbance of the system are regarded as the total disturbances of the ADRC controller. The PID algorithm is used for comparative test, and the result shows the strong robustness and effectiveness of the ADRC algorithm. © 2015, Northeast University. All right reserved.
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