Upright balance control of hexapod robot based on quadratic error differential PID algorithm - 文章详情页

作者：

Li, Xiaoli (Li, Xiaoli.) (学者：李晓理) | Zhang, Chengwei (Zhang, Chengwei.) | Liu, Dan (Liu, Dan.) | Li, Yang (Li, Yang.) | Zhu, Xiaoqing (Zhu, Xiaoqing.)

收录：

EI Scopus

摘要：

Aiming　at　the　problem　of　erect　balance　control　of　hexapod　robot,　a　new　PID　control　algorithm　is　proposed.　Based　on　the　Lagrange　equation　method,　the　erect　equilibrium　state　of　the　hexapod　robot　is　modeled.　For　the　erect　balance　control　problem　of　the　hexapod　robot,　a　quadratic　error　differential　parameter　self-tuning　including　the　secant　saturation　module　is　proposed.　The　simulation　results　verified　that　the　proposed　algorithm　is　feasible,　moreover　compared　with　traditional　method　better　balance　control　performance　can　be　achieved.　©　2019　IEEE.

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作者机构：

[ 1 ] [Li, Xiaoli]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Engineering Research Center of Digital Community, Ministry of Education, Beijing; 100124, China
[ 2 ] [Li, Xiaoli]Faculty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 3 ] [Li, Xiaoli]Beijing Advanced Innovation Center for Future Internet Technology, Beijing; 100124, China
[ 4 ] [Zhang, Chengwei]Faculty of Information Technology, Beijing University of Technology, Beijing; 100124, China
[ 5 ] [Liu, Dan]Instrumentation Technology and Economy Institute, Beijing; 100055, China
[ 6 ] [Li, Yang]Communication University of China, Beijing; 100024, China
[ 7 ] [Zhu, Xiaoqing]Beijing Key Laboratory of Computational Intelligence and Intelligent System, Engineering Research Center of Digital Community, Ministry of Education, Beijing; 100124, China
[ 8 ] [Zhu, Xiaoqing]Faculty of Information Technology, Beijing University of Technology, Beijing; 100124, China

通讯作者信息：

[zhu, xiaoqing]faculty of information technology, beijing university of technology, beijing; 100124, china;;[zhu, xiaoqing]beijing key laboratory of computational intelligence and intelligent system, engineering research center of digital community, ministry of education, beijing; 100124, china

电子邮件地址：

alex.zhuxq@bjut.edu.cn

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